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Commande adaptative d'un positionneur en présence d'un frottement sec

Abstract : Position control of a mechanical system is always executing faced with a static friction force more and less important.This friction force introduces a nonlinear and nonlinearisable part in the process.This force is very dependent on many parameters like velocit, temperature, and surface's states of mechanical parts.Thereby, this force is often viewed as a perturbation and different linear control methods such a GPS and LQG/LTR are brought into operation. To improve the performances of these controls, identification in real-time of static friction's characteristics and compensation of this disturbing force, with the control, are proposed.Identification of friction allows also to follow the wear of the system and to assure its maintenance.
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Contributor : Jean-Luc Demange <>
Submitted on : Thursday, July 26, 2007 - 5:29:15 PM
Last modification on : Friday, October 23, 2020 - 8:38:04 AM
Long-term archiving on: : Friday, April 9, 2010 - 12:05:37 AM


  • HAL Id : tel-00165518, version 1



Jean-Luc Demange. Commande adaptative d'un positionneur en présence d'un frottement sec. Automatique / Robotique. Université Henri Poincaré - Nancy I, 1991. Français. ⟨tel-00165518⟩



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