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Friction Compensation Based on LuGre Model

På svenska

Author

Summary, 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.

Publishing year

2006

Language

English

Publication/Series

Proc. 45th IEEE Conf. Decision & Control (CDC 2006)

Document type

Conference paper

Topic

  • Control Engineering

Conference name

45th IEEE Conference on Decision and Control, 2006

Conference date

2006-12-13 - 2006-12-15

Conference place

San Diego, CA, United States

Status

Published

Project

  • Robotics Lab LTH