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)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/942433
- author
- Freidovich, Leonid
; Robertsson, Anders
LU
; Shiriaev, Anton
and Johansson, Rolf
LU
- organization
- publishing date
- 2006
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proc. 45th IEEE Conf. Decision & Control (CDC 2006)
- conference name
- 45th IEEE Conference on Decision and Control, 2006
- conference location
- San Diego, CA, United States
- conference dates
- 2006-12-13 - 2006-12-15
- external identifiers
-
- scopus:39649119104
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- e0022dbd-df02-44eb-9420-237de680366a (old id 942433)
- date added to LUP
- 2016-04-04 14:38:12
- date last changed
- 2023-04-09 08:58:31
@inproceedings{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}},
booktitle = {{Proc. 45th IEEE Conf. Decision & Control (CDC 2006)}},
language = {{eng}},
title = {{Friction Compensation Based on LuGre Model}},
url = {{https://lup.lub.lu.se/search/files/62895622/8865298.pdf}},
year = {{2006}},
}