Friction Compensation for Nonlinear Systems Based on the LuGre Model
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.
Department/s
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