Adaptive high precision position control of servo actuator with friction compensation using LuGre model

Adaptive control of servo actuator with nonlinear friction compensation is addressed. LuGre dynamic friction model is adopted to characterize the nonlinear friction and a new kind of slid ing mode observer is designed to estimate the internal immeasurable state of LuGre model. Based on the estimated...

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Veröffentlicht in:北京理工大学学报(英文版) 2011-03, Vol.20 (1), p.105-110
1. Verfasser: 邵志宇 方东洋 张晓东
Format: Artikel
Sprache:eng
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Zusammenfassung:Adaptive control of servo actuator with nonlinear friction compensation is addressed. LuGre dynamic friction model is adopted to characterize the nonlinear friction and a new kind of slid ing mode observer is designed to estimate the internal immeasurable state of LuGre model. Based on the estimated friction state, adaptive laws are designed to identify the unknown model parameters and the external disturbances, and the system stability and asymptotic trajectory tracking perform ance are guaranteed by Lyapunov function. The position tracking performance is verified by the ex perimental results.
ISSN:1004-0579