Friction compensation based on LuGre model

In English 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.