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LuGre-Model-Based Friction Compensation

Freidovich, Leonid; Robertsson, Anders LU ; Shiriaev, Anton and Johansson, Rolf LU (2010) In IEEE Transactions on Control Systems Technology 18(1). p.194-200
Abstract
A tracking problem for a mechanical system is considered. We start with a feedback controller that is designed without attention to disturbances, which are assumed to be adequately described by a dynamic LuGre friction model. We are interested in deriving a superimposed 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 apply this technique, it is necessary to know the Lyapunov function for the unperturbed system, as well as the parameters of the dynamic friction model, and to verify that a certain structural property satisfied. The case when the system is passive with respect to the... (More)
A tracking problem for a mechanical system is considered. We start with a feedback controller that is designed without attention to disturbances, which are assumed to be adequately described by a dynamic LuGre friction model. We are interested in deriving a superimposed 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 apply this technique, it is necessary to know the Lyapunov function for the unperturbed system, as well as the parameters of the dynamic friction model, and to verify that a certain structural property satisfied. The case when the system is passive with respect to the matching disturbance related to the given Lyapunov function is illustrated in this brief with a DC-motor example. The main contribution is some new insights into the numerical real-time implementation of a compensator for disturbances describable by one of various LuGre-type models. The other contribution, which is built upon the main one, is experimental verification of the suggested model-based observer design procedure. (Less)
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author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
observer design, Friction compensation, LuGre model, implementation, real-time
in
IEEE Transactions on Control Systems Technology
volume
18
issue
1
pages
194 - 200
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • wos:000273091300019
  • scopus:73249143022
ISSN
1558-0865
DOI
10.1109/TCST.2008.2010501
project
ROSETTA
language
English
LU publication?
yes
id
999420cc-aa36-4522-a8ff-a07e75a8147d (old id 1533854)
date added to LUP
2010-01-27 12:11:53
date last changed
2018-07-15 03:58:34
@article{999420cc-aa36-4522-a8ff-a07e75a8147d,
  abstract     = {A tracking problem for a mechanical system is considered. We start with a feedback controller that is designed without attention to disturbances, which are assumed to be adequately described by a dynamic LuGre friction model. We are interested in deriving a superimposed 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 apply this technique, it is necessary to know the Lyapunov function for the unperturbed system, as well as the parameters of the dynamic friction model, and to verify that a certain structural property satisfied. The case when the system is passive with respect to the matching disturbance related to the given Lyapunov function is illustrated in this brief with a DC-motor example. The main contribution is some new insights into the numerical real-time implementation of a compensator for disturbances describable by one of various LuGre-type models. The other contribution, which is built upon the main one, is experimental verification of the suggested model-based observer design procedure.},
  author       = {Freidovich, Leonid and Robertsson, Anders and Shiriaev, Anton and Johansson, Rolf},
  issn         = {1558-0865},
  keyword      = {observer design,Friction compensation,LuGre model,implementation,real-time},
  language     = {eng},
  number       = {1},
  pages        = {194--200},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  series       = {IEEE Transactions on Control Systems Technology},
  title        = {LuGre-Model-Based Friction Compensation},
  url          = {http://dx.doi.org/10.1109/TCST.2008.2010501},
  volume       = {18},
  year         = {2010},
}