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HOSIDF-based feedforward friction compensation in low-velocity motion control systems

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dc.contributor.authorUcun, Levent
dc.contributor.authorSalasek, Jan
dc.contributor.institutionauthorUCUN, Levent
dc.date.accessioned2026-06-27T13:29:56Z
dc.date.issued2014
dc.description.abstractThe paper describes an application of a recently introduced methodology for modeling of a class of nonlinear systems - Higher-Order Sinusoidal Input Describing Function technique (HOSIDF) - to a motion control platform for which a precisely controlled motion at low velocity is required. One of the key challenges for these systems is to compensate for the friction, which is particularly difficult to model at low velocities. The frequency-domain HOSIDF modeling framework is used to assist in designing a feedforward compensator. Experiments with a laboratory benchmark system (gimballed camera platform) prove the technique useful. (C) 2013 Elsevier Ltd. All rights reserved.en
dc.description.urihttps://doi.org/10.1016/j.mechatronics.2013.12.005
dc.identifier.doi10.1016/j.mechatronics.2013.12.005
dc.identifier.endpage127
dc.identifier.issn0957-4158
dc.identifier.issue2
dc.identifier.startpage118
dc.identifier.urihttps://hdl.handle.net/20.500.14981/53240
dc.identifier.volume24
dc.identifier.wos000333796300005
dc.language.isoeng
dc.publisherPERGAMON-ELSEVIER SCIENCE LTD
dc.relation.ispartofMECHATRONICS
dc.subjectFeedforward
dc.subjectFriction compensation
dc.subjectLow-velocity motion control
dc.subjectFrequency domain techniques
dc.subjectINPUT DESCRIBING FUNCTIONS
dc.subjectFREQUENCY-RESPONSE FUNCTIONS
dc.subjectNONLINEAR-SYSTEMS
dc.subjectSPECTRAL-ANALYSIS
dc.subjectLINEAR-SYSTEMS
dc.subjectLURE SYSTEMS
dc.subjectMODEL
dc.subjectPERFORMANCE
dc.subjectAutomation & Control Systems
dc.subjectEngineering
dc.subjectRobotics
dc.titleHOSIDF-based feedforward friction compensation in low-velocity motion control systems
dc.typeArticle
dspace.entity.typePublication
local.import.sourceWOS

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