シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2014/03
形態種別	学術論文
査読	査読あり
標題	Compensation of Stribeck-Type Nonlinear Friction in Positioning Control Using Equivalent-Input-Disturbance Approach
執筆形態	共著
掲載誌名	Journal of Advanced Computational Intelligence and Intelligent Informatics
出版社・発行元	Fuji Technology Press Co., Ltd.
巻・号・頁	18(2),pp.150-156
担当範囲	All
著者・共著者	Qi Shi, Liyu Ouyang, Jinhua She, Li Xu, Junya Imani, and Yasuhiro Ohyama
概要	A method of compensating for Stribeck-type nonlinear friction torque for a two-mass mechatronic system has been devised based on the equivalent-inputdisturbance (EID) approach. The nonlinearity in the system is treated as an input-dependent disturbance, and an EID estimator is designed that estimates it. The incorporation of the estimate into the control input compensates for the nonlinearity. Simulation results demonstrate the validity of the method and show that the compensation accuracy is closely related to the time constant of the low-pass filter.