Friction compensation based on LuGre model
2006 (English)In: 45th IEEE Conference on Decision and Control, New York: IEEE , 2006, 3837-3842 p.Conference paper (Refereed)
We consider a tracking problem for mechanical systems. It is assumed that feedback controller is designed neglecting some disturbances, which could be approximately modeled by a dynamic LuGre friction model. We are interested to derive an additive 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 follow this technique, it is necessary to know the Lyapunov function for the unperturbed system, parameters of the dynamic friction model, and to have certain structural property satisfied. The case when this property is passivity with respect to the matching disturbance related to the given Lyapunov function is illustrated in the paper with an example of a DC-motor. The main contribution is some new insights into numerical real time implementation of friction compensators for various LuGre-type models. The other contribution, built upon the main one, is experimental verification of the suggested observer design procedure.
Place, publisher, year, edition, pages
New York: IEEE , 2006. 3837-3842 p.
, Proceedings / IEEE Conference on Decision and Control ; IEEE Control Systems Society, ISSN 0743-1546
IdentifiersURN: urn:nbn:se:umu:diva-37707DOI: 10.1109/CDC.2006.376780ISBN: 1-4244-0171-2OAI: oai:DiVA.org:umu-37707DiVA: diva2:369741
45th IEEE Conference on Decision and Control, San Diego, CA, DEC 13-15, 2006