抄録
In this paper, a control system design for the positioning servomechanisms is presented, where a nonlinear observer is applied for the development of the friction compensation system using the bristle-type friction model. Here robust filtering theory is applied to generalize the concept of the disturbance observer and to obtain a robust estimation of the friction disturbance. For friction compensation the positioning feedback control is augmented by a feedforward of an estimate for the disturbing friction torque. The output of the nonlinear friction model is used to compensate the static friction torque in the positioning system. By this inclusion of the nonlinear friction medel in the estimation of the augmented plant state vector, a robust friction
