Anthony C . Nnaji | Enugu State University of Science & Technology (original) (raw)
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Papers by Anthony C . Nnaji
International Journal of Modelling, Identification and Control
International Journal of Modelling, Identification and Control
Performance degradation in most mechanical systems with friction which are not easily eliminated ... more Performance degradation in most mechanical systems with friction which are not easily eliminated through design mechanisms can be greatly reduced within acceptable limits through the process of friction compensation. Generally friction compensators are used to improve system performance in terms of error reduction, transient response, thereby countering the effects of friction. Model-based techniques for friction compensation require an accurate model of the system friction. This is very important for high precision mechanical systems where excellent positioning and motion tracking, especially in the low velocities, is critical. This thesis proposes a new integrated friction model structure capable of modelling known friction dynamics. The new friction model incorporates a pre-sliding friction function with non-local hysteretic features. Analysis of the model shows the model to possess dissipative, boundedness, passivity and uniqueness properties. Results of sensitivity and robustne...
International Journal of Modelling, Identification and Control
International Journal of Modelling, Identification and Control
Performance degradation in most mechanical systems with friction which are not easily eliminated ... more Performance degradation in most mechanical systems with friction which are not easily eliminated through design mechanisms can be greatly reduced within acceptable limits through the process of friction compensation. Generally friction compensators are used to improve system performance in terms of error reduction, transient response, thereby countering the effects of friction. Model-based techniques for friction compensation require an accurate model of the system friction. This is very important for high precision mechanical systems where excellent positioning and motion tracking, especially in the low velocities, is critical. This thesis proposes a new integrated friction model structure capable of modelling known friction dynamics. The new friction model incorporates a pre-sliding friction function with non-local hysteretic features. Analysis of the model shows the model to possess dissipative, boundedness, passivity and uniqueness properties. Results of sensitivity and robustne...