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

• Main Authors: Kaewkham-Ai,B., Uthaichana,K.
• 格式: Conference or Workshop Item
• 出版: 2015
• 在線閱讀: http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=84871697845&origin=inward; http://cmuir.cmu.ac.th/handle/6653943832/38996

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...