A Practical Two-Step Friction Determination for Motion Control Using LuGre Model

被引：3

作者：

Kim, In Hyuk ^{[1
]}

Son, Young Ik ^{[1
]}

机构：

[1] Myongji Univ, Dept Elect Engn, Gyeonggi Do 449728, South Korea

来源：

IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES | 2015年 / E98A卷 / 03期

基金：

新加坡国家研究基金会;

关键词：

LuGre model; friction identification; PI observer; motion control; PROPORTIONAL-INTEGRAL OBSERVER; ROBUST-CONTROL; SYSTEMS;

D O I：

10.1587/transfun.E98.A.890

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

In order to improve the motion control performance, a new friction determination method, using the LuGre model, is proposed. The model parameters are determined by performing two-step closed-loop experiments using a proportional-integral observer (PIO). The PIO is also used to develop a robust motion controller to deal with additional uncertainties including the effect of the inaccurate estimation of the friction. The experimental results reveal improved performance compared to that of a single-PIO-based controller.

引用

页码：890 / 893

页数：4

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