... of such terms is friction, which is ubiquitous in the joints of the master and slave robots of practical teleoperation systems. Uncertainties in the NLP dynamic terms may lead to significant position and force tracking errors if not compensated for in the control scheme. In this paper, adaptive controllers...

... the further practical-use of the variable-gear-ratio steering. This paper proposes a control method to cancel the unnatural torque using a simple concept called friction relocation. Effectiveness of the method is experimentally confirmed using a hardware-in-the-loop simulator. 16 06 2010 06 03 2011...

... approach does not need an accurate knowledge on tire-road friction coefficient (TRFC) and is robust to tire force modeling inaccuracies. Based on the in-wheel motor/motor driver fault diagnosis mechanism, a control-allocation based vehicle fault-tolerant control system is designed to accommodate...

... but also as a part of the controller itself. This work presents a new servopneumatic system model primarily developed for control tasks, namely, to predict pneumatic and friction forces in dynamic tests. The model can also be used in simulation tasks to predict the piston position and velocity...

...Xingjian Wang; Shaoping Wang LuGre dynamic friction model has been widely used in servo system for friction compensation, but it increases the difficulty of controller design because its parameters are difficult to be identified and its internal state is immeasurable. This paper presents...

... aspects of harmonic drive behavior—nonlinear viscous friction, nonlinear stiffness, hysteresis, and kinematic error—are all included in the model. The harmonic drive is taken to be a black box, and a dynamometer is used to observe the input/output relations of the transmission. This phenomenological...

... subject to parameter variations during operation, friction effects, and variable loads. Several studies have addressed the nonlinear nature of EHSS; however, only a few control schemes explicitly address friction and load disturbance effects along with parameter variations. Fuzzy and/or sliding mode...

...A. Bazaei; M. Moallem In this paper, we study friction characteristics of a constrained planar single-link arm in applications, where control of the end-point interaction force is required. The objective is to improve performance of a force control system by developing an adequate friction model...

...Dooroo Kim; Michael J. Leamy; Aldo A. Ferri This paper presents an analysis of a nonlinear (piecewise linear) dynamical model governing steady operation of a flat belt drive using a physically motivated elastic/perfectly plastic (EPP) friction law. The EPP law models frictional contact...

...Osamu Nishihara; Kurishige Masahiko Road friction coefficients are highly effective for advanced vehicle control technologies, although the estimation at four individual tires has not been practically used for ordinary vehicles. This study describes the essential relation between the tire forces...

... straight and normal to the deformed reference surface, and the nonlinear elasticity theory that accounts for large displacement, large rotation, and large deformation. The rollers and guiding mechanism are modeled as rigid bodies. The distributed frictional contact forces between rollers and web...

...Keith W. Buffinton; Katie L. Hoffman; Martin C. Berg Two problems encountered in precision manufacturing are friction and flexibility. With regard to friction, pulse-width control has been shown to be exceptionally effective for rigid systems; however, when used to control flexible systems residual...

... and deadbands in displacement and restoring force. A tracking servo model represents the ability of the read/write head’s actuator to track disturbances in the tape’s motion, and the actuator’s motion couples through friction with the tape’s vibration. Low frequency excitation arising from pack runout can...

...Fakhreddine Landolsi; Fathi H. Ghorbel; Jun Lou; Hao Lu; Yuekai Sun Friction and system models are fundamentally coupled. In fact, the success of models in predicting experimental results depends highly on the modeling of friction. This is true at the atomic scale where the nanoscale friction...

... the instability problem for a wide range of inertance loads. Finally, the dynamic characteristics of the inerter devices are identified. It is verified experimentally that the admittance of the devices approaches the ideal inerter admittance over a useful frequency range and that friction in the devices...

... problem with the chemical liberation of heat within the chamber modeled via a condensed-phase reaction rate law. The model is used to predict the overall performance in terms of ballistic kinetic energy as well as draw design insight regarding the role of friction, chamber geometry, and the profile...

..., transmission, and electronic throttle actuator are considered simultaneously in this model. Furthermore, focusing on the electronic throttle actuator, the strong nonlinear factors induced by the Coulomb friction and torsion of the return spring are analyzed. In view of the nonlinearity of the proposed model...

...Sue Ann Campbell; Stephanie Crawford; Kirsten Morris We consider an experimental system consisting of a pendulum, which is free to rotate 360 deg , attached to a cart. The cart can move in one dimension. We study the effect of friction on the design and performance of a feedback controller...

... for off-road vehicles is chosen. A mathematical model representing the system is derived rigorously from inertial dynamics and first principles in thermodynamics. Empirical corelations are also used to include nonlinearities such as friction that cannot be accounted for in the thermodynamic equations...

.... An input commutation is required within the uncontrollable region to sustain the direction of actuator motion. Additionally, the motor torque factor, magnetic restoration bias, and friction torque are nonlinear and can be represented by functions that are Lipschitz within the actuator ramp angle. A state...