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LuGre-model-based friction compensation
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
LTH, Lund University.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
LTH, Lund University.
2010 (English)In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865, Vol. 18, no 1, 194-200 p.Article in journal (Refereed) Published
Abstract [en]

A tracking problem for a mechanical system is considered. We start with a feedback controller that is designed without attention to disturbances, which are assumed to be adequately described by a dynamic LuGre friction model. We are interested in deriving a superimposed observer-based compensator to annihilate or reduce the influence of such a disturbance. We exploit a recently suggested approach for observer design for LuGre-friction-model-based compensation. In order to apply this technique, it is necessary to know the Lyapunov function for the unperturbed system, as well as the parameters of the dynamic friction model, and to verify that a certain structural property satisfied. The case when the system is passive with respect to the matching disturbance related to the given Lyapunov function is illustrated in this brief with a DC-motor example. The main contribution is some new insights into the numerical real-time implementation of a compensator for disturbances describable by one of various LuGre-type models. The other contribution, which is built upon the main one, is experimental verification of the suggested model-based observer design procedure.

Place, publisher, year, edition, pages
2010. Vol. 18, no 1, 194-200 p.
National Category
Physical Sciences Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:umu:diva-30764DOI: 10.1109/TCST.2008.2010501ISI: 000273091300019OAI: oai:DiVA.org:umu-30764DiVA: diva2:286686
Available from: 2010-01-15 Created: 2010-01-15 Last updated: 2017-12-12Bibliographically approved

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Freidovich, LeonidShiriaev, Anton
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