Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems

Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems comprehensively covers kinetic friction in a robotics, mechatronics, and control engineering context. Providing the theory behind kinetic friction, as well as compensation methods and practical solutions, the text is a key companion to studying different control systems.

Beginning with a clear introduction to the subject, the book goes on to include three main facets of kinetic friction, starting with phenomena of kinetic friction in drives. This chapter explains friction interfaces and friction effects. Following from this, the next chapter looks at motion dynamics with friction, which introduces dynamic system equations and focuses on both energy balance and dissipation. Finally, the book looks at compensation of friction in motion control, which summarises key compensation methods in controlled mechanical systems. Introducing various basic feedback control methods, including observer-based methods to compensate for kinetic friction, the text provides practical information that can be used in a wide variety of contexts not specific to particular systems or applications.

This book will be of interest to students and industry workers in the field of robotics, mechanical systems and control engineering.

Michael Ruderman studied first the applied physics and then computer and electrical engineering, and earned his Dr.-Ing. degree from the Technical University Dortmund, Germany, in 2012. He worked in academia for seven years in Germany and for two and a half years in Japan, at different institutions, and became a faculty member at the University of Agder in Norway in 2015. He has been a full professor at the University of Agder since 2020 where he is teaching control theory and engineering in various study programs. He serves on different editorial boards and technical committees and has co-organized several scientific conferences and workshops. His research interests are, among others, in motion control, robotics and mechatronics, nonlinear systems with memory, and hybrid and robust control.