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Friction Compensation for Nonlinear Systems Based on the LuGre Model

Robertsson, Anders LU ; Shiriaev, Anton and Johansson, Rolf LU (2004) In Nonlinear Control Systems 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.
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author
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
in
Nonlinear Control Systems 2004
editor
Allgower, Frank and Zeitz, Michael
publisher
Elsevier
ISBN
0-08-044303-6
language
English
LU publication?
yes
id
f40a3736-b0d3-48e6-932a-692a7561341b (old id 536069)
date added to LUP
2007-09-25 09:10:58
date last changed
2016-09-23 15:15:33
@misc{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},
  editor       = {Allgower, Frank and Zeitz, Michael},
  isbn         = {0-08-044303-6},
  keyword      = {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    = {ARRAY(0xb64a4a0)},
  series       = {Nonlinear Control Systems 2004},
  title        = {Friction Compensation for Nonlinear Systems Based on the LuGre Model},
  year         = {2004},
}