LuGre model-based friction compensation and positioning control for a pneumatic actuator using multi-objective output-feedback control via LMI optimization

Khayati, Karim; Bigras, Pascal; Dessaint, L.-A.

doi:10.1016/j.mechatronics.2008.12.006

Cited by 63 publications

(38 citation statements)

References 35 publications

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“…A solution must be proposed to improve the adaptability of the controller. Moreover, to achieve a higher precision for the posture, new friction models should be considered in the controller design, such as the LuGre model, which has been shown to be an effective model for the friction between the piston and cylinder wall (Khayati et al, 2009).…”

Section: Discussionmentioning

confidence: 99%

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

Tao

Shang

Meng

et al. 2017

J. Zhejiang Univ. - Sci. C

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A control algorithm for a 3-RPS parallel platform driven by pneumatic cylinders is discussed. All cylinders are controlled by proportional directional valves while the kinematic and dynamic properties of the system are modeled. The method of adaptive robust control is applied to the controller using a back-stepping approach and online parameter estimation. To compensate for the uncertainty and the influence caused by estimations, a fast dynamic compensator is integrated in the controller design. To prevent any influence caused by the load applied to the moving platform changing in a practical working situation, the identification of parameters is taken as the initialization of unknown parameters in the controller, which can improve the adaptability of the algorithm. Using these methods, the response rate of the parameter estimation and control performance were improved significantly. The adverse effects of load and restriction forces were eliminated by the initialization and online estimation. Experiments under different situations illustrated the effectiveness of the adaptive robust controller with parameter initialization, approaching average tracking errors of less than 1%.

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Section: Discussionmentioning

confidence: 99%

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

Tao

Shang

Meng

et al. 2017

J. Zhejiang Univ. - Sci. C

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“…The LuGre friction model is selected due to its known simplicity and capability to model the Stribeck effect and rate‐dependent friction phenomena. () Under the LuGre model, the friction force F f is written

F_{f} false(x false) = σ_{0} z + σ_{1} \overset{z}{true} + σ_{2} \overset{x}{true}

with

\begin{matrix} right \dot{z} & left = \dot{x} - σ_{0} \frac{| \dot{x} |}{g (\dot{x})} z & right \\ right g (\dot{x}) & left = F_{c} + (F_{s} - F_{c}) e^{- {(\dot{x} / {\dot{x}}_{s})}^{2}} \\ right \end{matrix}

where σ 0 , σ 1 , and σ 2 are constants representing the stiffness of the bristles, microdamping, and viscous friction, respectively, x is the sliding displacement of the inner friction plate and taken as x = y 0 − y with x =0 corresponding to the initial location of the sliding plates y 0 as illustrated in Figure (b),

\overset{x}{true}

the sliding velocity,

{\overset{x}{true}}_{s}

a constant modeling the Stribeck velocity, z an evolutionary variable,

g false(\overset{x}{true} false)

a function that describes the Stribeck effect, F c the Coulomb friction force, and F s the magnitude of the Stribeck effect.…”

Section: Dynamic Modelmentioning

confidence: 99%

Characterization of a novel variable friction connection for semiactive cladding system

Gong

Cao

Laflamme

et al. 2018

Struct Control Health Monit

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Cladding systems are conventionally designed to serve architectural purposes and protect occupants from the environment. Some research has been conducted in altering the cladding system in order to provide additional protection against natural and man-made hazards. The vast majority of these solutions are passive energy dissipators, applicable to the mitigation of single types of hazards. In this paper, we propose a novel semiactive variable friction device that could act as a connector linking a cladding panel to the structural system. Because of its semiactive capabilities, the device, here termed variable friction cladding connection (VFCC), could be utilized to mitigate different hazards, either considered individually or combined, also known as multihazards. The VFCC consists of two sets of sliding friction plates, onto which a variable normal force can be applied through an actuated toggle system. A static model is derived to relate the device's Coulomb friction force to the actuator stroke. This model is integrated into a dynamic friction model to characterize the device's dynamic behavior. A prototype of the VFCC is constructed using 3D printing. The prototype is tested under harmonic excitations to identify the model parameters and characterized on a set of nonstationary excitations under different actuator stroke lengths. Results show good agreement between the model and experimental data, demonstrating that the device functions as-designed. KeywordsSemi-active damper, Variable friction, Cladding connection, Multi-hazard mitigation, High performance control systems, 3D printing Disciplines Dynamics and Dynamical Systems | Mechanics of Materials | Tribology CommentsThis is the pre-peer reviewed version of the following article: Gong, Yongqiang, Liang Cao, Simon Laflamme, Spencer Quiel, James Ricles, and Douglas Taylor. "Characterization of a novel variable friction connection for semiactive cladding system. " Structural Control and Health Monitoring 25, no. 6 (2018) AbstractCladding systems are conventionally designed to serve architectural purposes and protect occupants from the environment. Some research has been conducted in altering the cladding system in order to provide additional protection against natural and man-made hazards. The vast majority of these solutions are passive energy dissipators, applicable to the mitigation of single types of hazards. In this paper, we propose a novel semiactive variable friction device that could act as a connector linking a cladding panel to the structural system.Because of its semi-active capabilities, the device, here termed variable friction cladding connection (VFCC), could be utilized to mitigate different hazards, either considered individually or combined, also known as multi-hazards. The VFCC consists of two sets of sliding friction plates onto which a variable normal force can be applied through an actuated toggle system. A static model is derived to relate the device's Coulomb friction force to the actuator stroke. This model is integrated in...

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“…Simple linear friction models do not perform well in solving this problem. Nonlinear approaches have also been proposed [3][4][5] with more or less success, many of them being based on empirically collected data. In this paper a novel approach is presented, based on tensor product (TP) transformation.…”

Section: Introductionmentioning

confidence: 99%

Friction with Hysteresis Loop Modeled by Tensor Product

2014

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Original scientific paperEngineers encounter the problem of friction in any mechanical system. Friction force is strongly nonlinear and varies considerably while the system is working. In the case of high-precision applications friction makes the situation even more complex, as the stick-slip effect occurs near the target position. This paper introduces a pneumatic servo-system for investigation of the behavior of friction near the target position. A new model is proposed which takes the hysteresis loop of the friction also into consideration emphasizing the importance of hysteresis. This paper presents the tensorproduct (TP) based modeling of friction which is suitable for control design. The main advantage of the TP model transformation is that due to its polytopic model form Linear Matrix Inequality (LMI) can be immediately applied to the resulting model to yield controllers with guaranteed performance. The main contribution of this paper is the application of TP model transformation making the identification of friction parameters unnecessary by utilizing directly the measured data itself. Key words: Tensor Product, Friction Compensation, Pneumatic Cylinder, Stribeck EffectIdentifikacija modela trenja s histerezom korištenjem tenzorskog produkta. Inženjeri se susreću s pojavom trenja u svakom mehaničkom sustavu. Sila trenja ima izraženu nelinearnost i promjenjiva je ovisno o radnim uvjetima procesa. U slučaju pozicioniranja s visokom preciznošću trenje dodatno komplicira situaciju, što rezultira pojavom oscilatornog ponašanja u okolini referentne pozicije sustava upravljanja. U ovom radu je predstavljen pneumatski servosustav koji se koristi za analizu ponašanja sile trenja u blizini referentne pozicije. Predložen je novi model sile trenja koji uzima u obzir histereznu karakteristiku trenja. U radu je predstavljeno modeliranje trenja na principu tenzorskog produkta koji je prikladan za sintezu sustava upravljanja. Glavna prednost transformacije modela korištenjem tenzorskog produkta je što politopski oblik modela u obliku linearnih matričnih nejednadžbi omogućava njegovu direktnu primjenu za sintezu regulatora s garantiranim performansama. Glavni znanstveni doprinos ovog rada je primjena transformacije modela trenja korištenjem tenzorskog produkta, pričemu identifikacija parametara trenja postaje suvišna direktnim korištenjem izmjerenih podataka.

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LuGre model-based friction compensation and positioning control for a pneumatic actuator using multi-objective output-feedback control via LMI optimization

Cited by 63 publications

References 35 publications

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

Characterization of a novel variable friction connection for semiactive cladding system

Friction with Hysteresis Loop Modeled by Tensor Product

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