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Friction compensation based on LuGre model

Freidovich, Leonid; Robertsson, Anders LU ; Shiriaev, Anton and Johansson, Rolf LU (2006) 45th IEEE Conference on Decision and Control, 2006
Abstract
We consider a tracking problem for mechanical systems. It is assumed that feedback controller is designed neglecting some disturbances, which could be approximately modeled by a dynamic LuGre friction model. We are interested to derive an additive 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 follow this technique, it is necessary to know the Lyapunov function for the unperturbed system, parameters of the dynamic friction model, and to have certain structural property satisfied. The case when this property is passivity with respect to the matching disturbance related to the given... (More)
We consider a tracking problem for mechanical systems. It is assumed that feedback controller is designed neglecting some disturbances, which could be approximately modeled by a dynamic LuGre friction model. We are interested to derive an additive 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 follow this technique, it is necessary to know the Lyapunov function for the unperturbed system, parameters of the dynamic friction model, and to have certain structural property satisfied. The case when this property is passivity with respect to the matching disturbance related to the given Lyapunov function is illustrated in the paper with an example of a DC-motor. The main contribution is some new insights into numerical real time implementation of friction compensators for various LuGre type models. The other contribution, built upon the main one, is experimental verification of the suggested observer design procedure. (Less)
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Contribution to conference
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conference name
45th IEEE Conference on Decision and Control, 2006
external identifiers
  • scopus:39649119104
language
English
LU publication?
yes
id
e0022dbd-df02-44eb-9420-237de680366a (old id 942433)
date added to LUP
2008-01-22 11:00:33
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2017-03-26 04:40:28
@misc{e0022dbd-df02-44eb-9420-237de680366a,
  abstract     = {We consider a tracking problem for mechanical systems. It is assumed that feedback controller is designed neglecting some disturbances, which could be approximately modeled by a dynamic LuGre friction model. We are interested to derive an additive 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 follow this technique, it is necessary to know the Lyapunov function for the unperturbed system, parameters of the dynamic friction model, and to have certain structural property satisfied. The case when this property is passivity with respect to the matching disturbance related to the given Lyapunov function is illustrated in the paper with an example of a DC-motor. The main contribution is some new insights into numerical real time implementation of friction compensators for various LuGre type models. The other contribution, built upon the main one, is experimental verification of the suggested observer design procedure.},
  author       = {Freidovich, Leonid and Robertsson, Anders and Shiriaev, Anton and Johansson, Rolf},
  language     = {eng},
  title        = {Friction compensation based on LuGre model},
  year         = {2006},
}