Study of Nonlinear Observer for Dynamic Friction Compensation of High-Accuracy Servo-System

Abstract

In this paper, a nonlinear observer is designed for a servo system with non-linear dynamic friction. With this kind of observer, the dynamic friction can be estimated and then be compensated using the input and output data on-line. A recursive formula of the nonlinear observer is derived by using the block pulse function which can be easily implemented on-line with microcomputers. The designed non-linear observer is applied to high accuracy servo system running at very low speed and prove to be effective and satisfactory.