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Friction Compensation for Nonlinear Systems Based on the LuGre Model

  • Frank Allgower
  • Michael Zeitz
Publiceringsår: 2004
Språk: Engelska
Publikation/Tidskrift/Serie: Nonlinear Control Systems 2004
Dokumenttyp: Konferensbidrag
Förlag: Elsevier


Friction may be a major obstacle for stability and control performance. Based on a nominal control law, which stabilizes a nonlinear dynamical system to an equilibrium or to a desired limit cycle motion and which is derived without taking the friction disturbance into account, a method for compensating the impact of the friction is presented and stability analysis for the closed loop system is presented. The result can be interpreted as a nonlinear observer-based solution for the LuGre friction model with new design for the nonlinear injection function. An illustrative example is given for the Furuta pendulum.



  • Technology and Engineering
  • LuGre friction model
  • friction compensation
  • nonlinear dynamical system
  • nonlinear injection function
  • limit cycle motion
  • stability analysis
  • nonlinear observer
  • closed loop system
  • Furuta pendulum
  • control system synthesis


  • ISBN: 0-08-044303-6

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