Compensation of Friction and Backlash Effects in An Electrical Actuator by Merzouki

1 SPECIAL ISSUE PAPER
Compensation of friction and backlash eects in an

electrical actuator
R Merzouki*, J C Cadiou and N K MSirdi
Laboratoire de Robotique de Versailles, Velizy, France
Abstract: In this paper, non-linear observers, based on an estimation of the friction force and the
disturbed torque transmitted due to the dead zone, are developed for systems presenting mechanical
imperfections such as friction and backlash. Then an adaptive controller using these non-linear
observers is presented, to compensate for mechanical disturbances on-line. Simulation and experimental
results applied on an electrical actuator are given to support the theoretical demonstrations.
Keywords: friction force, non-linear observer, backlash eects, transmitted torque, electrical actuator,
dead zone, adaptive control
NOTATION 1 INTRODUCTION
a area contact width (m) The presence of non-linearities in mechanical systems
make them dicult to control with high accuracy. F global friction torque (N m)
F
friction torque error (N m) Among these imperfections are friction, which depends
on the relative velocity of the motion, and the backlash j
0
dead zone magnitude (rad)
J
m
motor inertia (N m2) phenomenon issued from the dead zone between two
involved parts. J
s
load inertia (N m2)
K elasticity constant (N m/rad) Among research dealing with friction eects, Friedland
[1] has developed an algorithm in order to estimate the N
0
reducer constant
w non-linear transmitted torque (N m) Coulomb friction force. This algorithm is a reduced-order
observer containing two non-linear functions, where w non-linear transmitted torque error (N m)
one corresponds to the Jacobean of the other. A good
choice of non-linear function in the observer allows a
0
Coulomb friction torque (N m)
a
1
stiction torque (N m) an asymptotic stability of the error. Amin et al. [2]
have developed two types of observers: the rst considers a
2
viscous friction coecient (N m s/rad)
e
e
input position error (rad) the friction force as a constant and the second is used
to estimate the relative velocity of the motion during e
e
input velocity error (rad/s)
e
s
output position error (rad) the contact. Canudas de Witt et al. [3] proposed a
model of friction that includes dierent eects, such e
s
output velocity error (rad/s)
h
e
input reducer position (rad) as hysteresis behaviour and the stiction eect. They
developed an adaptive control in order to estimate and h
e
input reducer velocity (rad/s)
h
e
input reducer acceleration (rad/s2) then compensate for the friction eects.
The presence of the dead zone in mechanical systems h
s
output reducer position (rad)
h
s
output reducer velocity (rad/s) introduces an hysteresis phenomenon between the input
and the output positions. This describes the backlash h
s
output reducer acceleration (rad/s2)
h
stri
Stibeck velocity (rad/s) phenomenon, which causes non-stable behaviour in the
controlled system. Backlash is inherent in mechanical m friction parameter
systems, especially when starting the motion, but if it
increases due to wear it will disturb the performance of
The MS was received on 7 April 2003 and was accepted after revision
the system. In such a case, compensation for these eects
for publication on 8 September 2003.
is due to mechanical or control methods. For a long
* Corresponding author: Laboratoire de Robotique de Versailles, 1012
avenue de lEurope, 78140 Velizy, France. time, mechanical solutions existed to eliminate these
I03303 IMechE 2004 Proc. Instn Mech. Engrs Vol. 218 Part I: J. Systems and Control Engineering
mi00003303 16-01-04 17:03:53 Rev 14.05
The Charlesworth Group, Huddersfield 01484 517077
2 R MERZOUKI, J C CADIOU AND N K MSIRDI
disturber eects by changing all imperfect parts on the The second imperfection is backlash and is represented
by a variable dead zone from 0 to 24. Finally, the trans- system. Some control solutions have also been proposed,
e.g. by Brandenburg and Schafter [4], who studied mitted motion to the output axis is via a string system
with changeable stiness. the inuence and the partial compensation of simul-
taneously acting backlash and Coulomb friction in a On this bench test, the measure of input and output
positions is taken by two incremental coders, as shown speed and position control of an elastic two-mass system.
Recker et al. [5] and Tao and Kokotovic [6] worked on in Fig. 1a.
the adaptive control of systems with backlash. Dierent
mathematical models were proposed, such as that of Tao
and Kokotivic [6], who modelled an inverse backlash
2.2 Estimation of the friction force
model based on an hysteresis cycle. Cadiou and MSirdi
[7] have developed a dierentiable model based on the
In order to explain the origin of the friction force
dead zone characteristic.
observer, two dierent modes are studied. The rst one
In this paper, two non-linear observers have been
is the nearly static mode, which corresponds to the low-
developed, to estimate the friction force and the dis-
velocity variation. The second one corresponds to the
turber transmitted torque. After that, an adaptive con-
dynamic mode, where the velocity variation is important.
troller is presented, to compensate for the disturbance
eects. In most applications, the friction and the back-
2.2.1 Nearly static mode
lash non-linearities could not be accurately known,
so only an estimation of these eects could be possible.
Consider that during mechanical motion between two
A mathematical model of imperfections is given, rep-
surfaces in contact, the pressure distribution P(x) [8] is
resenting an inverse sigmoid to represent the disturber
given by Fig. 2b. In this case, the distribution is chosen
torque observer [8] and Tustins model for the case of
as a half-ellipse in the plane and is limited by a and
friction [9]. Simulation and experimental results are pre-
+a, where a is a positive value that denes the maximum
sented in this paper, which are applicable to a bench test
of the deection [3]. The maximum pressure contact
constructed in the authors laboratory, and an important
acts at the centre and decreases progressively with the
number of mechanical imperfections are given.
width contact.
The easiest representation of this last distribution
could be formulated as follows:
2 DEFINITIONS AND MODELLING
P(x)=P
0 S
1
x2
a2
(1)
2.1 Description of the bench test
For the nearly static mode, the friction force F
1
depends
The experimental bench test of Fig. 1a corresponds to
on the normal force N, so that
an electrical actuator, divided into two parts. The rst
part represents the motor part and is driven by a d.c.
F
1
=mN (2)
motor. The second part describes the reducer part which
where m is the friction parameter at low velocities. The regroups three important mechanical imperfections.
normal force N could be deduced by integration of the The rst imperfection is static and viscous friction,
assumed pressure distribution P(x). The friction force where coecients can be changed for dierent appli-
could then be expressed as cations by using many brake parts made of aluminium,
metal, etc. These coecients could also be identied
approximately by using classical identication algorithms
F
1
=
P
+a
a
am P(x) dx (3)
[7], e.g. the recursive least mean squares method.
Fig. 1 (a) Bench test; (b) bloc scheme of the bench test
mi00003303 16-01-04 17:03:53 Rev 14.05
3 COMPENSATION OF FRICTION AND BACKLASH EFFECTS IN AN ELECTRICAL ACTUATOR
Fig. 2 (a) Surfaces in contact; (b) pressure distribution
Replacing equation (1) by equation (3) gives positive constants. The rule of this lter is to cut the
high frequencies of e
s
, issued as a result of the presence
of mechanical imperfections.
F
1
=
P
+a
a
am P
0 S
1
x2
a2
dx (4)
The formulation of the m observer and the friction
force F
2
estimator can now be rewritten from equations
Putting x=a sin a gives dx=a cos a da, with a
(9) and (10), which take the same mathematical
[p/2, p/2]; therefore
formulation as their corresponding model, adding the
term k
0
e
s
, as shown below:
F
1
=P
0
m
P
+p/2
p/2
a2 cos2 a da (5)
m
=
l
|h
stri
|
m +
pa
0
l
2a2P
0
|h
stri
|
sign(h
s
)k
0
e
s
F
1
=P
0
a2m
P
+p/2
p/2
A
1+cos 2a
2 B
da (6)
F
=
pP
0
a2m
2
+a
2
h
s
F
1
=
pP
0
a2m
2
(7)
(11)
From equations (11) and (9), the estimated friction error
where P
0
represents the maximum pressure over the
and the observed parameter error m are given as
contact surface and is supposed known in this case.
m
=
l
|h
stri
|
m +re
2.2.2 Dynamic mode
When P(xa)=0, evolution of the friction force will
F
=
pP
0
a2
2
m
depend principally on the relative velocity h
s
between
the surfaces in contact:
(12)
F
2
=a
2
h
s
(8)
Putting
where a
2
is the viscous friction coecient. The global
friction force F=F
1
+F
2
will therefore be expressed for
G=
pP
0
a2
2
(13)
both modes as follows:
thus gives the estimated friction error as
F=
pP
0
a2m
2
+a
2
h
s
(9)
F
=FF
=Gm (14)
2.2.3 Friction observer
2.3 Description of the transmitted torque
Consider a low-pass lter formulated as
Figure 3 shows an approximation of a transmitted
torque via a dead zone of magnitude 2j
0
, with exible
m =
1
(|h
stri
| /l)p+1 A
pa
0
2a2P
0
|h
stri
|
l
k
0
e
sB
(10)
links. The dierence between the input position h
e
and
the output position N
0
h
s
of the reducer part is put as
Dh, with N
0
as the reducer constant. The continuous and where a
0
is the Coulomb friction, supposed known, p is
the Laplace constant, h
stri
is the Stribeck velocity given derivable function, a sigmoid, is used to describe the
transmitted torque characteristic inside and outside the in reference [7], |h
stri
|/ l is the cut-o frequency, m corre-
sponds to the observer of parameter m, e
s
=h
s
hd
s
, dead zone [8], and is easy to implement in the control
scheme. where hd
s
represents the desired output, and k
0
, l are
mi00003303 16-01-04 17:03:53 Rev 14.05
described by the following equations system:
J
s
h
s
+F=C
J
m
h
e
+f
m
h
e
+C=U
(20)
where J
s
, h
s
are the inertia of the reducer part supposed
known and the output reducer acceleration respectively,
J
m
, f
m
, h
e
, h
e
are the inertia of the motor part, the
viscous input friction, which are supposed known, the
input reducer acceleration and velocity respectively, U is
the control torque, F is the friction force, supposed
unknown in the actuator and has to be estimated, and
h
e
and h
s
are the input and output measured positions
of the reducer part respectively. C represents the trans-
Fig. 3 Approximation of transmitted torques
mitted torque to the load via a exible axis and a known
dead zone. It may be expressed as
Then the mathematical formulation of this transmitted
torque via a dead zone is dened by C=K Dh+w (21)
where K is the stiness of the exible parts and w is the
C=K
A
Dh4j
0
1ec Dh
1+ec DhB
(15)
disturber torque, described before.
Note that
where C is the approximate transmitted torque repre-
sented in Fig. 3. After decomposing the expression of
Dh=h
e
N
0
h
s
(22)
the transmitted torque C into two parts,
which represents the dierence between the input and
C=C
0
+w (16)
the output positions of the reducer part. N
0
is the reducer
with C
0
the linear transmitted torque, given by
constant.
System (20) can then be expressed as follows:
C
0
=K Dh (17)
and w the disturber and non-linear transmitted torque,
J
s
h
s
+F=Kh
e
KN
0
h
s
+w
formulated as follows:
J
m
h
e
+f
m
h
e
=UKh
e
+KN
0
h
s
w
w=4Kj
0
1ec Dh
1+ec Dh
(18)
(23)
e
s
=h
s
hd
s
The representation of w depends on the value of
the constant c, which depends on the magnitude j
0
.
e
e
=h
e
hd
e Expression (18) corresponds to the best approximation
z=Kh
e
KN
0
h
s
of the transmitted torque via a dead zone, as shown
in Fig. 3.
e
z
=zz
d According to the simulation and experimental tests,
the best decreasing value of w is obtained inside [j
0
, j
0
] w =ww
after putting
F
=FF
c=
1
2j
0
(19)
(24)
where hd
s
is the desired output position, hd
e
is the desired
For the next sections, the parameter c is calculated
input position, z is the dierence between the input and
on-line by giving an approximative and initial value to
the output positions of the reducer part and z
d
is its
j
0
. Then the torque w is estimated after observing the
desired value, w is the estimated disturber torque and w
evolution of the magnitude j
0
on-line.
corresponds to the estimated error of the disturber
torque. Now, system (23) may be expressed as
3 CONTROL OF THE BENCH TEST INCLUDING
J
s
h
s
+F=z+w
FRICTION AND BACKLASH
J
m
h
e
+f
m
h
e
+J
s
h
s
+F=U
The dynamic model of the bench test given in Fig. 1,
including the friction and backlash imperfections, is (25)
mi00003303 16-01-04 17:03:53 Rev 14.05
The control scheme to the bench test is given by Fig. 4. where K
P1
and K
D1
are the PD constants of the C
1
con-
troller and F
the estimated friction force given in Fig. 4. C

1
and C
2
are proportional derivative (PD) controller
blocs with transient blocs of H
1
and H
2
. According to the control scheme of Fig. 4,
In order to linearize the rst equation of system (25),
hd
e
=K
D2
e
s
+K
P2
e
s
(32)
the z and w values given in system (24) are replaced by
estimated values as follows:
where K
P2
and K
D2
represent the C
2
controller constants
of Fig. 4.
J
s
h
s
+F=e
z
+z
d
+w +w (26)
By replacing the expression for U in equation (30),
For that, z
d
is chosen as
the following equation is obtained:
z
d
=J
s
h
d
s
+F
w (27)
J
m
K
e
z
+
A
f
m
K
+
K
D1
K B
e
z
+
A
k
1
+
K
P1
K B
e
z By replacing expression (27) in equation (26), the
output system equation is given by
+( J
m
N
0
+J
s
K
D1
K
D2
)e
s
J
s
e
s
+F
=e
z
+w (28)
+( f
m
N
0
K
P1
K
D2
K
D1
K
P2
+K
D1
N
0
)e
s
which is the equation deduced after linearization of the
+(K
P1
N
0
K
P1
K
P2
)e
s
+F
=0 (33)
reducer part model.
Now, to linearize the second equation of system (25),
This last equation describes the linearization of the
the following aectations are used:
motor part of our bench test.
From equations (11) and (9), the estimation errors of
h
e
=
z
K
+N
0
h
s
the friction parameter m and the friction force are given
by the following equations system:
h
e
=
z
K
+N
0
h
s
m
=jm +k
0
e
s
F
=Gm
h
e
=
z
K
+N
0
h
s (34)
(29) where
The second equation of system (25) will become
G=
pP
0
a2
2
and j=
l
|h
stri
|
J
m
K
z +
f
m
K
z +( J
m
N
0
+J
s
)h
s
+f
m
N
0
h
s
+F=U (30)
The torque estimator has the same formulation as its
model (18) and is given by the following expression:
Thus, the control law U for global system (20) is
expressed as
w =4Kj
0
1ec Dh
1+ec Dh
(35)
U=
J
m
K
zd+
A
f
m
K
+
K
D1
K B
zd+
K
1
K
zd
with c supposed known. In the case of Dh&0, w will
take the following expression:
+(J
m
N
0
+J
s
)h
d
s
+( f
m
N
0
+K
D1
N
0
)h
d
s
+K
P1
N
0
hd
s
k
1
e
z
K
D1
e
e
K
P1
e
e
+F
(31) w =4Kj
0
(36)
Fig. 4 Control scheme of the bench test including friction and backlash
mi00003303 16-01-04 17:03:53 Rev 14.05
after choosing a backlash magnitude model given by
dj
0
dt
=0 (37)
with j
0
the magnitude constant. Thus, the observer
magnitude can be expressed by the output position errors
and output velocity errors, as follows:
dj
0
dt
=k
2
e
s
k
3
e
s
(38)
where k
2
and k
3
are positive constants.
Fig. 5 Equivalent scheme of the global system in a closed loop
The estimation error of the backlash magnitude is
given as
The characteristic equation of the global system (40) is
dj
0
dt
=
dj
0
dt
dj
0
dt
=k
2
e
s
+k
3
e
s
(39)
dened by the following equation:
Thus, the global system will be a combination of all the
C
8
p8+C
7
p7+C
6
p6+C
5
p5+C
4
p4+C
3
p3
following equations:
+C
2
p2+C
1
p=0 (41)
J
s
e
s
+F
=e
z
+w
with
J
m
K
e
z
+
A
f
m
K
+
K
D1
K B
e
z
+
A
k
1
+
K
P1
K B
e
z
C
8
=4KJ
s
a
3
C
7
=4KJ
s
(a
2
+ja
3
)
+( J
m
N
0
+J
s
K
D1
K
D2
)e
s
C
6
=4KJ
s
(j+1)a
2
+4Kb
3
+k
2
a
3
+( f
m
N
0
K
P1
K
D2
K
D1
K
P2
+K
D1
N
0
)e
s
C
5
=4KJ
s
a
0
+a
3
(4KGk
0
+k
3
)+4KJ
s
ja
2
+k
2
a
2
+(K
P1
N
0
K
P1
K
P2
)e
s
+F
=0
+4K(b
2
+jb
3
)
dj
0
dt
=k
2
e
s
+k
3
e
s
C
4
=4KJ
s
ja
0
+k
3
ja
3
+k
2
a
2
+4K(b
1
+jb
2
)+a
3
k
3
j
w =4Kj
0
C
3
=4K(b
0
+jb
1
)+k
2
a
0
+a
2
(4KGk
0
+k
3
)+a
2
k
3
j
m
=jm +k
0
e
s C
2
=4Kjb
0
+a
0
(4KGk
0
+k
3
)+k
3
jb
0
F
=Gm
C
1
=k
3
ja
0
(40)
To dene the conditions on the controller constants and
which is represented in Fig. 5, with
on constants k
0,
k
1
, k
2
, K
3
, use of the Routh criterium
determines the stability limits for the global system to
b
3
=
J
m
K
converge to the equilibrium state (e
s
0, e
e
0, w 0,
F
0).
b
2
=j
J
m
K
+
f
m
K
+
K
D1
K
4 SIMULATION RESULTS
b
1
=j
A
f
m
K
+
K
D1
K B
+k
1
+
K
P1
K
The simulation tests are performed on a mechanical
model representative of the bench test of Fig. 1b. The
b
0
=j
A
k
1
+
K
P1
K B
parameters of the model for the simulation tests are
K
P1
=15, K
D1
=0.5, K
P2
=15, K
D2
=0.3
a
3
=K
D1
K
D2
J
m
N
0
J
s
K=1 N m/rad, J
m
=0.000 972 N m2
a
2
=K
P1
K
D2
+K
D1
K
P2
f
m
N
0
K
D1
N
0
f
m
=0.000 43 N m s/rad, J
s
=7.5 N m2
j( J
m
N
0
+J
s
K
D1
K
D2
)
a
0
=8 N m, a
1
=10.5 N m, a
2
=16 N m s/rad
a
1
=K
P1
K
P2
K
P1
N
0
j
0
=0.1 rad, k
1
=1, k
2
=0.01, k
3
=1
j( f
m
N
0
K
P1
K
D2
K
D1
K
P2
+K
D1
N
0
)
a
0
=Gk
0
j(K
P1
N
0
K
P1
K
P2
) and N
0
=59
mi00003303 16-01-04 17:03:53 Rev 14.05
Figure 6a describes the tracking of the output position in Fig. 8b before compensation and in Fig. 9b. After
adding observers, the output tracking error is reduced for a desired output signal hd
s
(t)=0.5 sin(0, 2pt) and a
PD controller applied on the system of Fig. 1. Figure 6b and is uniform for each period. However, a static error
is still present, due to the presence of the exibility eects represents the output position error before the adaptive
compensation of the imperfection eects. It can be seen in the mechanical system. Figure 10 describes the
hysteresis cycle between the input and the output reducer that the reel output position signal is less deformed at
the peak area due to the presence of the disturbances. positions. After compensating for the dead zone eect,
the width of the cycle is reduced. Knowing that the This deformation is compensated after introducing the
adaptive compensation, as shown in Fig. 7a. Then, the exibility eect is still present in the modelling, the
relation between the input and output positions is not real output position signal approaches the desired one,
with a position error described as in Fig. 7b. This error exactly linear after compensation. Figure 11a represents
the control signals before and after compensation. The is especially due to the exibility eects, which are
not considered in the adaptive compensation. Figure 8a signal before compensation is not as clear as the one
after compensation. This is due to the presence of the describes the tracking of the input signal before com-
pensation for the mechanical imperfection eects. The imperfections, dened by the disturber torque of Fig. 11b.
After compensation, a linear representation of the torque tracking is very good in the two cases but is clearer in
the case after compensation (Fig. 9a). The dierence is obtained, which is transmitted via a exible axis, as
shown in Fig. 11b. between the error input position tracking is shown
Fig. 6 (a) Desired and real output signals before compensation; (b) output position error before compensation
Fig. 7 (a) Desired and real output signals after compensation; (b) output position error after compensation
mi00003303 16-01-04 17:03:53 Rev 14.05
Fig. 8 (a) Desired and real input signals before compensation; (b) input position error before compensation
Fig. 9 (a) Desired and real input signals after compensation; (b) input position error after compensation
Fig. 10 Hysteresis backlash behaviour before and after compensation
mi00003303 16-01-04 17:03:53 Rev 14.05
Fig. 11 (a) Control torque before and after compensation; (b) linearization of the disturbed torque after
compensation
5 EXPERIMENTAL RESULTS and friction force. Figure 13 shows the output velocity
signals before and after the adaptive compensation. There-
fore, before the compensation case, undesired oscillations The experimental tests have been applied on the bench
test of Fig. 1a, using the following control parameters: around h
s
(0)=0 rad/s are present and represent the non-
linearity eects. These imperfections are compensated
K
P1
=1, K
D1
=0.01, K
P2
=10, K
D2
=5
after applying the estimated disturber torque and friction
force. Finally, the control signals before and after com- K=2 N m/rad, j
0
=0.48 rad, k
1
=1
pensating the backlash and friction eects are shown
k
2
=0.02, k
3
=1, a
0
=8 N m
in Fig. 14. In the case after compensation, the control
signal is clearer than its equivalent before the com-
a
1
=10.5 N m, a
2
=16 N m s/rad
pensation due to the adaptive compensation of the
In these tests, the motor reducer was required to
disturbance eects of friction and backlash.
move from the initial static output position h
s
(0)=
p/2 rad and output velocity h
s
(0)=0 rad/s to the origin
h
s
(0)=0 rad, h
s
(0)=0 rad/s.
Figure 12 represents the tracking output position before 6 CONCLUSION
(i.e. the regulation is made by only a PD controller) and
after applying the adaptive compensation. The static The presence of mechanical imperfections such as
position error is about 0.32 rad and is compensated after friction and backlash in controlled systems make them
adding the estimators of the undesired dead zone torque dicult to control with high accuracy. The mechanical
Fig. 12 Output position before and after adaptive compensation Fig. 13 Output velocity before and after adaptive compensation
mi00003303 16-01-04 17:03:53 Rev 14.05
2 Amin, J., Friedland, B. and Harnoy, A. Implementation of
friction estimation and compensation technique. In 5th
IEEE International Conference on Control Applications,
Dearborn, Illinois, 1518 September, 1996.
3 Canudas de Wit, C., Olsson, H., Astrom, K. J. and
Lischinsky, P. A new model for control of systems with
friction. IEEE Trans. Autom. Control, March 1995,
40(3), 419424.
4 Brandenburg, G. and Schafer, U. Inuence and partial com-
pensation of simultaneously acting backlash and Coulomb
friction in a speed and position controlled elastic two-mass
system. In Proceedings of International Conference on
Electrical Drives (ICED88), Romania, 1988, pp. 112.
5 Recker, D. A., Kokotovic, P. V., Rhode, D. and
Winkelman, J. Adaptive nonlinear control of system con-
taining a dead zone. In Proceedings of the 30th Conference
on Decision and Control, Vol. 3, Brighton, December 1991,
pp. 21112115.
Fig. 14 Control signal before and after adaptive compensation
6 Tao, G. and Kokotovic, P. V. Adaptive control of systems
with unknown output backlash. Automatica, 1995, 40(2),
326330.
imperfection eects could be reduced by estimating the
7 Cadiou, J. C. and MSirdi, N. K. Modelization and analysis
necessary disturber torque inside the dead zone and the
of a system with torque transmitted through a backlash.
friction force acting during the motion. After adding
In 9th World Congress on The Theory of Machines and
these observers into the control law, the undesired non-
Mechanisms (IFTPMM), Vol. 2, Milan, Italy, August
linearities can be reduced. For the case of friction esti-
September 1995, pp. 14671470.
mation, a dynamic model describing the friction force
8 Merzouki, R., Cadiou, J. C. and MSirdi, N. K.
variation as a function of the output system velocity is
Compensation of backlash eects in an electrical actuator.
presented. Then, the friction observer corresponds to a
In the IASTED International Conference on Intelligent
lter bloc, where its input is the output position error Systems and Control (IASTED2000), Hawaii, 1416 August
2000. and its output is the friction parameter. For the case of
9 Merzouki, R., Cadiou, J. C. and MSirdi, N. K. Adaptive
backlash, a non-linear and derivable mathematical model
control of an electrical actuator. In the IEEE International
for the disturber torque is presented, where the dead
Conference on Intelligtent Systems and Control (ICAR2001),
zone magnitude approaches a constant value. Estimation
Budapest, Hungary, August 2001.
of the magnitude variation is observed as a function of
10 Merzouki, R., Cadiou, J. C. and MSirdi, N. K.
the output position error and output velocity error. A
Compensation of stick-slip eect in an electrical actuator.
good choice of control system parameters allows the con-
In Proceedings of the 2002 IEEE/RSJ International
vergence of the global system to the original state, as
Conference on Intelligent Robots and Systems (IROS2002),
shown in the simulation and experimental results.
Lausanne, Switzerland, October 2002, EPFL, pp. 22452249.
with backlash. Automatica, 1993, 29(2), 323335.
REFERENCES
with unknown output backlash. Automatica, 1995, 40(2),
326330.
1 Friedland, B. A non-linear observer for estimating parameters 13 Spinnler, G. Conception des Machines, Vols 1 and 2 (Presses
in dynamic systems. Automatica, 1997, 33(8), 15251530. Polytechniques et Universitaires Romandes).
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1 SPECIAL ISSUE PAPER

Compensation of friction and backlash eects in an

the estimated friction force given in Fig. 4. C

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