Adaptive Robust Control of Servo Mechanisms With Compensation for Nonlinearly Parameterized Dynamic Friction

Abstract

Abstract-In this brief, an adaptive robust control (ARC) scheme with compensation for nonlinearly parameterized dynamic friction is proposed. Both parametric uncertainties and external disturbances are considered in this method. Our method takes advantage of a Lipschitzian property with respect to the parameters of nonlinearly parameterized model in the ARC design. The outcome is that the number of parameters to be updated in the ARC is equal to the number of unknown parameters in the plant, and thus the resulting control algorithm is convenient to be implemented. We have proved theoretically that the proposed method can not only guarantee desired transient performance for the system, but also make the magnitude of steady-state tracking error to be arbitrarily small in the presence of parametric uncertainties only. Experimental results are given to demonstrate the effectiveness of the proposed ARC scheme.

Synchronization and tracking control for multi‐motor driving servo systems with backlash and friction

“…1 is simply chosen as a line section if N l 1 6 j P Â m j 6 N l 2 , N l 2 > N l 1 > 0, and % 1 and % 2 are designed to guarantee the continuity of s.j P Â m j/. Then, it can be concluded that the LuGre friction (7) is able to be rewritten as…”

“…Similar to the backlash, friction is a natural nonlinear phenomenon in multi-motor driving servo systems, which results in large steady-state errors, limit cycles, and stick-slip motion. To compensate friction nonlinearity, many models were introduced to describe the friction phenomenon, such as Dahl model [5], Stribeck model [6], LuGre model [7], and Rolling model [8]. Then, the modelbased compensation algorithms have been investigated [9,10].…”

Synchronization and Tracking Control for Dual‐motor Driving Servo Systems with Friction Compensation

“…To overcome this problem, the friction compensation has been studied by two major methods, such as model-based compensation and model-independent scheme. The adaptive control [1,2] is widely employed for the friction compensation. But the model-based compensation suffers from main drawback, i.e., the complexity and difficulty of friction identification.…”

Switched sliding mode approach for motion control systems with friction

“…Among the proposed friction models, LuGre model is widely used because it can capture the most observed static and dynamic characteristics of friction. 15,16 In addition, friction is not only dependent on the relative displacement and relative velocity but also related to temperature, load, lubricant, and so on. 17 To deal with the variations of friction model parameters caused by the above factors, some adaptive controllers have been presented.…”