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LuGre-Model-Based Friction Compensation

Författare

Summary, in English

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.

Publiceringsår

2010

Språk

Engelska

Sidor

194-200

Publikation/Tidskrift/Serie

IEEE Transactions on Control Systems Technology

Volym

18

Issue

1

Dokumenttyp

Artikel i tidskrift

Förlag

IEEE - Institute of Electrical and Electronics Engineers Inc.

Ämne

  • Control Engineering

Nyckelord

  • observer design
  • Friction compensation
  • LuGre model
  • implementation
  • real-time

Status

Published

Projekt

  • ROSETTA
  • LU Robotics Laboratory

Forskningsgrupp

  • LCCC

ISBN/ISSN/Övrigt

  • ISSN: 1558-0865