Du är här

Friction compensation based on LuGre model

Författare:
Publiceringsår: 2006
Språk: Engelska
Dokumenttyp: Konferensbidrag

Sammanfattning

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.

Disputation

Nyckelord

  • Technology and Engineering

Övrigt

45th IEEE Conference on Decision and Control
San Diego, CA, USA
Published
Yes

Box 117, 221 00 LUND
Telefon 046-222 00 00 (växel)
Telefax 046-222 47 20
lu [at] lu [dot] se

Fakturaadress: Box 188, 221 00 LUND
Organisationsnummer: 202100-3211
Om webbplatsen

LERU logo U21 logo