Skip to main content

Lund University Publications

LUND UNIVERSITY LIBRARIES

Friction Compensation for Nonlinear Systems Based on the LuGre Model

Robertsson, Anders LU ; Shiriaev, Anton and Johansson, Rolf LU orcid (2004)
Abstract
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.
Please use this url to cite or link to this publication:
author
; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
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
host publication
Nonlinear Control Systems 2004
editor
Allgower, Frank and Zeitz, Michael
publisher
Elsevier
external identifiers
  • scopus:85064495258
ISBN
0-08-044303-6
project
RobotLab LTH
language
English
LU publication?
yes
id
f40a3736-b0d3-48e6-932a-692a7561341b (old id 536069)
date added to LUP
2016-04-04 10:27:15
date last changed
2023-01-05 22:17:04
@inproceedings{f40a3736-b0d3-48e6-932a-692a7561341b,
  abstract     = {{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.}},
  author       = {{Robertsson, Anders and Shiriaev, Anton and Johansson, Rolf}},
  booktitle    = {{Nonlinear Control Systems 2004}},
  editor       = {{Allgower, Frank and Zeitz, Michael}},
  isbn         = {{0-08-044303-6}},
  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}},
  language     = {{eng}},
  publisher    = {{Elsevier}},
  title        = {{Friction Compensation for Nonlinear Systems Based on the LuGre Model}},
  year         = {{2004}},
}