Friction state observation in positioning systems using Leunberger observer

Temeltas H., Aktas G.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Kobe, Japan, 20 - 24 July 2003, pp.797-802 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Kobe
  • Country: Japan
  • Page Numbers: pp.797-802
  • Istanbul Technical University Affiliated: No


In this study, state observation in positioning systems is discussed. A Luenberger type state observer is developed for motion control systems with non-linear elasto-plastic friction model. Experimental results are presented to illustrate benefits of the method to observe both velocity and friction states.