Robustness evaluation of two control methods for friction compensation of PTP positioning systems

Friction is one of the major contributing factors for problems associated with accuracy in positioning systems. The problem becomes more complicated because of variation of the friction. Due to this fact, the objective of this paper is to compare experimentally two control methods for point-to-point (PTP) positioning system in the presence of friction and its variation. The first controller is nominal characteristic trajectory following (NCTF) controller. The second controller is PD controller with smooth robust nonlinear feedback (SRNF) compensator. Two controllers are compared in terms of not only effectiveness of the controller to compensate the friction, but also robustness to inertia and friction variations. The results demonstrate that the NCTF controller is much more robust to inertia and friction variations than PID controller with SRNF compensator.

[1]  L. Cai,et al.  A smooth robust nonlinear controller for robot manipulators with joint stick-slip friction , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[2]  Brian Armstrong,et al.  Friction: experimental determination, modeling and compensation , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[3]  Carlos Canudas de Wit,et al.  A survey of models, analysis tools and compensation methods for the control of machines with friction , 1994, Autom..

[4]  Akira Shimokohbe,et al.  Robustness evaluation of new practical control for PTP positioning systems , 2001, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556).

[5]  Nariman Sepehri,et al.  Experimental comparison of some compensation techniques for the control of manipulators with stick-slip friction , 1996 .