Cart (Loading....) | Create Account
Close category search window
 

Robust Tracking Controller Design With Uncertain Friction Compensation Based on a Local Modeling Approach

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Mostefai, L. ; Inst. of Ind. Sci., Univ. of Tokyo, Tokyo, Japan ; Denaìˆ, M. ; Hori, Y.

This paper presents a new methodology for the design of a robust controller to compensate for friction-induced dynamical characteristics inherently present in servodrives systems. A friction model is developed using a local modeling approach of the physical properties of friction along the operating range of the underlying system. Generally, developing a faithful model for physical nonlinearities is still a challenging task that is strongly related to the identification effort required by the structure of the model and the complexity of the control algorithm. The proposed model has the advantage of being simple and able to describe friction locally. The accuracy of the estimator based on the model structure can be improved by a gain-scheduled input signal obtained for different velocities and used as a precompensator of nonlinear friction. This leads to an effective linearzing strategy of the controlled system that subsequently simplifies the controller implementation stage. A stabilizing-state feedback controller is designed, assuming an inexact compensation of friction, which guarantees robustness against uncertainties arising from modeling errors and achieves high tracking performance of the overall controlled system. Experimental tests performed on a robot joint laboratory prototype demonstrate the effectiveness of the proposed friction compensation scheme to improve the performance of the overall system.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:15 ,  Issue: 5 )

Date of Publication:

Oct. 2010

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.