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Browse Journals & Magazines > Industrial Electronics, IEEE ...> Volume:54 Issue:3 Help

Sliding-Mode-Observer-Based Adaptive Control for Servo Actuator With Friction

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1 Author(s)
Wen-Fang Xie ; Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, Que.

In this paper, a novel sliding-mode-observer-based adaptive controller is developed for the servo actuators with friction. The LuGre dynamic friction model is adopted for adaptive friction compensation. A sliding-mode observer is proposed to estimate the internal friction state of LuGre model. Based on the estimated friction state, adaptation laws are designed to compensate the unknown friction and load torque. The stability of the adaptive controller with sliding-mode observer is analyzed. The position tracking performance has been verified through both simulation and experimental results

Published in:
Industrial Electronics, IEEE Transactions on  (Volume:54 ,  Issue: 3 )

Date of Publication: June 2007

Page(s):
1517 - 1527
ISSN :
0278-0046
INSPEC Accession Number:
9477524
Digital Object Identifier :
10.1109/TIE.2007.894718
Product Type:
Journals & Magazines
Date of Current Version :
16 April 2007
Issue Date :
June 2007
Sponsored by :
IEEE Industrial Electronics Society

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