Adaptive robust motion control of the surface mounting equipment with dynamic friction compensation

Adaptive friction compensation for a class of mechanical systems based on LuGre model

“…Now many friction compensation methods based on LuGre model and its modified models have been proposed for real mechanical systems, such as Furuta pendulum, 7 robots, 8,9 direction current motors, 10,11 and so on. [12][13][14][15] In LuGre-model-based friction compensation, the main control scheme is the adaptive control method based on observer. The observer is used to estimate the state variable of LuGre model, because the state variable is not measurable.…”

“…In addition, due to the complexity of friction, LuGre model is often modified to some extent in practical applications. Now many friction compensation methods based on LuGre model and its modified models have been proposed for real mechanical systems, such as Furuta pendulum, 7 robots, 8,9 direction current motors, 10,11 and so on 12‐15 …”

“…In Reference 17, the iterative learning control method based on dual‐observer is presented, which can ensure that the tracking error converges to zero in the sense of ‐norm. In References 12,18‐20, the adaptive control methods based on projection observer are proposed, which can achieve asymptotic tracking 12,18,20 or approximate tracking 19 . The adaptive control method based on observer with filtered states is presented in Reference 21.…”