Comparative study on friction compensation using Coulomb and Dahl models with extended and unscented Kalman filters

In this paper, the Coulomb and the Dahl friction models have been simulated and estimated using extended Kalman filter (EKF) and unscented Kalman filter (UKF). The estimated friction is used by a controller to compensate and track a desired sinusoidal position profile. In the simulation, the real fr...

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Main Authors: Kaewkham-Ai,B., Uthaichana,K.
Format: Conference or Workshop Item
Published: 2015
Online Access:http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=84871697845&origin=inward
http://cmuir.cmu.ac.th/handle/6653943832/38996
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Institution: Chiang Mai University
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spelling th-cmuir.6653943832-389962015-06-16T08:01:04Z Comparative study on friction compensation using Coulomb and Dahl models with extended and unscented Kalman filters Kaewkham-Ai,B. Uthaichana,K. In this paper, the Coulomb and the Dahl friction models have been simulated and estimated using extended Kalman filter (EKF) and unscented Kalman filter (UKF). The estimated friction is used by a controller to compensate and track a desired sinusoidal position profile. In the simulation, the real friction is estimated using EKF and UKF with the Coulomb and the Dahl friction models. The designed controller consists of both feedback and feedforward for position tracking. The proportional and derivative (PD) output feedback is selected. The desired trajectory inertia and the estimated friction are compensated as the feedforward. The tracking performance is analyzed in terms of the normalized root mean square error. It is found that the UKF based controller using Dahl friction compensation gives the lowest sinusoidal position tracking error, outperforming the EKF based controller counterpart. © 2012 IEEE. 2015-06-16T08:01:04Z 2015-06-16T08:01:04Z 2012-12-01 Conference Paper 2-s2.0-84871697845 10.1109/ICIEA.2012.6360721 http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=84871697845&origin=inward http://cmuir.cmu.ac.th/handle/6653943832/38996
institution Chiang Mai University
building Chiang Mai University Library
country Thailand
collection CMU Intellectual Repository
description In this paper, the Coulomb and the Dahl friction models have been simulated and estimated using extended Kalman filter (EKF) and unscented Kalman filter (UKF). The estimated friction is used by a controller to compensate and track a desired sinusoidal position profile. In the simulation, the real friction is estimated using EKF and UKF with the Coulomb and the Dahl friction models. The designed controller consists of both feedback and feedforward for position tracking. The proportional and derivative (PD) output feedback is selected. The desired trajectory inertia and the estimated friction are compensated as the feedforward. The tracking performance is analyzed in terms of the normalized root mean square error. It is found that the UKF based controller using Dahl friction compensation gives the lowest sinusoidal position tracking error, outperforming the EKF based controller counterpart. © 2012 IEEE.
format Conference or Workshop Item
author Kaewkham-Ai,B.
Uthaichana,K.
spellingShingle Kaewkham-Ai,B.
Uthaichana,K.
Comparative study on friction compensation using Coulomb and Dahl models with extended and unscented Kalman filters
author_facet Kaewkham-Ai,B.
Uthaichana,K.
author_sort Kaewkham-Ai,B.
title Comparative study on friction compensation using Coulomb and Dahl models with extended and unscented Kalman filters
title_short Comparative study on friction compensation using Coulomb and Dahl models with extended and unscented Kalman filters
title_full Comparative study on friction compensation using Coulomb and Dahl models with extended and unscented Kalman filters
title_fullStr Comparative study on friction compensation using Coulomb and Dahl models with extended and unscented Kalman filters
title_full_unstemmed Comparative study on friction compensation using Coulomb and Dahl models with extended and unscented Kalman filters
title_sort comparative study on friction compensation using coulomb and dahl models with extended and unscented kalman filters
publishDate 2015
url http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=84871697845&origin=inward
http://cmuir.cmu.ac.th/handle/6653943832/38996
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