A disturbance observer based nonlinear controller for friction compensation in a servomechanism

被引：0

作者：

Mostefai, L ^{[1
]}

Denal, MA ^{[1
]}

机构：

[1] Univ Sci & Technol Oran, Fac Elect Engn, El Mnaouar 31000, Oran, Algeria

来源：

PROCEEDINGS OF THE 7TH WSEAS INTERNATIONAL CONFERENCE ON AUTOMATIC CONTROL, MODELING AND SIMULATION | 2005年

关键词：

disturbance observer; disturbance rejection for friction compensation; stiffness control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a disturbance observer based controller is proposed for the compensation of nonlinear friction in a servodrive system. The designed nonlinear controller uses the estimated system states (position, velocity) and disturbance to enhance tracking performance of the servodrive using high stiff gains for the compensation of the effects of nonlinear friction. The effectiveness of this disturbance observer is demonstrated under simulations.

引用

页码：500 / 504

页数：5

共 6 条

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