Adaptive estimation of friction forces with differential filter

作者：Mitsunaga Kouichi; Matsuo Takami^*

来源：International Journal of Systems Science, 2009, 40(12): 1263-1271.

DOI：10.1080/00207720903038036

• non-linear friction
• adaptive observer
• fuzzy basis function expansion
• adaptive differential filter

In this article, we design adaptive observers to estimate the non-linear friction model when the output is the position. First, an adaptive observer is designed to estimate the viscous friction force with full-states measurements. In the case of position measurements, the velocity measurement is replaced to the estimate by using the adaptive differential filter. Secondly, the dynamic friction force is estimated by a fuzzy adaptive observer with position measurements. Finally, simulation results for the proposed observers are presented.

• 出版日期2009