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Friction Compensation for Nonlinear Systems Based on the LuGre Model

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Author

Editor

  • Frank Allgower
  • Michael Zeitz

Summary, in English

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.

Publishing year

2004

Language

English

Publication/Series

Nonlinear Control Systems 2004

Document type

Conference paper

Publisher

Elsevier

Topic

  • Control Engineering

Keywords

  • 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

Status

Published

Project

  • LU Robotics Laboratory

ISBN/ISSN/Other

  • ISBN: 0-08-044303-6