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)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1533854
- author
- Freidovich, Leonid
; Robertsson, Anders
LU
; Shiriaev, Anton
and Johansson, Rolf
LU
- organization
- publishing date
- 2010
- 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
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- 999420cc-aa36-4522-a8ff-a07e75a8147d (old id 1533854)
- date added to LUP
- 2016-04-01 14:37:12
- date last changed
- 2024-06-07 08:06:50
@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}},
keywords = {{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}},
doi = {{10.1109/TCST.2008.2010501}},
volume = {{18}},
year = {{2010}},
}