Optimal Control Design for Robust Fuzzy Friction Compensation in a Robot Joint

Mostefai, L.; Denaï, Mouloud; Oh, Sehoon; Hori, Yoichi

doi:10.1109/tie.2009.2024101

Cited by 48 publications

(22 citation statements)

References 23 publications

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“…We now show that (20) minimizes (13), where the learning rate TJI(k) is critical for the stability in terms of Lyapunov.…”

Section: Exponential Convergence Of S(k)mentioning

confidence: 91%

“…In this sense, nonlinear and saturated PID has been proposed recently which includes a fuzzy-based self-tuning mechanism for semi-global stabilization in the sense of Lyapunov, [8], [9]. The self-tuning controllers based on fuzzy and neural networks stand out as a promising alternative because of the ability to input knowledge-based reasoning and experience from users, then deriving an in tuitive tuning policy seems feasible without the involved of other approaches, but aimed at keeping simple PID-Iike control structures, [12], [13]. Along this line, [9] proposes a semi-global asymptotic regulator which includes a self tuning mechanism, but depending on stringent bounds of system dynamics; tracking is not explored.…”

Section: Background On Self-tuning Pid-l1ke Controlmentioning

confidence: 99%

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Regressor-free tracking of robots with self-tuning PD-like control

Armendariz

Parra-Vega

García-Rodríguez

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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The success in real applications of PID regulator has thought us that it is desirable a simple controller with clear and intuitive policy for tuning of feedback gains, as well as minimum or null dependency on the dynamics of the system. In this paper, theoretical and experimental results of PD-like structures for tracking of robots subj ect to friction and disturbances is presented. The salient feature of our proposal is a neuro-fuzzy schemes used to a single gain that multiplies the regressor-free PID structure. This bounded time varying gain plays the role of enforcing a dissipative mapping to obtain exponential stability. Stability is obtained in the sense of Lyapunov and experimental study is presented and discussed, which highlights the viability and feasibility for real applications.

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“…We now show that (20) minimizes (13), where the learning rate TJI(k) is critical for the stability in terms of Lyapunov.…”

Section: Exponential Convergence Of S(k)mentioning

confidence: 91%

Section: Background On Self-tuning Pid-l1ke Controlmentioning

confidence: 99%

Regressor-free tracking of robots with self-tuning PD-like control

Armendariz

Parra-Vega

García-Rodríguez

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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show abstract

“…By introducing (8), (9) and (10) into (7) the time derivative of the Lyapunov function outside the boundary layer Φ reads as: (12) where θ = θ − θ.…”

Section: Robust Friction Compensationmentioning

confidence: 99%

“…Soft computing approaches are also popular for friction compensation. In these approaches the feed-forward term in the controller is a neural network or fuzzy system in which the input is the measured velocity of the plant and the output is the signal that directly compensates the effect of friction [11], [12]. The parameters of the universal approximators can be tuned on-line if the variation in time of the different frictional parameters has to be taken into consideration.…”

Section: Introductionmentioning

confidence: 99%

A novel approach to deal with temperature dependence of friction in mechanical control systems

Márton

Lanios

2010

2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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This paper presents how the temperature dependence of the friction phenomena can be handled in mechanical control systems using state estimation techniques. The method is based on the dynamic friction model, originally introduced by Batista and Carlson (Physical Rev. E;1996, 1998, where the temperature dependence of friction is described by an unmeasurable internal state. According to the author's knowledge this model was not applied before in mechanical control system analysis and design. For the model a state estimator was developed based on the theory of hybrid systems. A robust tracking control algorithm was also developed for mechanical systems with temperature dependent friction. Simulation measurements are provided in the second part of the paper to show the applicability of the theoretical results.

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“…6 In previous works on friction compensation, there exist three major trends: compensation using soft computing methods, observer-based friction compensation, and model-oriented friction compensation techniques. 7,8 The nonlinear part of the friction model is compensated using a fuzzy system in Garagic and Srinivasah 9 and Mostefai et al 10 Coulomb friction compensation with a reduce-order observer has been proposed in Barabanov and Ortega. 11 A sliding mode adaptive control with observer is studied for servo actuators.…”

Section: Introductionmentioning

confidence: 99%

A unified modeling and control design for precision transmission system with friction and backlash

Bao

Mao

Luo

2016

Advances in Mechanical Engineering

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The structural flexibility, nonlinear friction, and backlash are the major factors limiting the control performance of precision transmission systems. If uncompensated, these factors compromise the positioning and tracking accuracy of precision transmission systems and even cause limit cycles and oscillation. In this article, a framework for integrated design from dynamic modeling to controller design is proposed. A multi-state dynamic model is presented, which can unify the modeling for a multi-state, discontinuous system including the motor state, the motion state, the mechanical contact state, and the friction state. Then, a control design method related to the dynamic modeling using perturbation separation of the model parameters is presented. Using the proposed modeling method, a continuous dynamic model is established to include all different partition models. The model comprehensively describes the mechanical and electrical characteristics of the precision transmission system. A robust controller is designed using the proposed control method. Experimental results demonstrate that the proposed modeling method is accurate and the proposed control method significantly improves accuracy and robustness of the controller compared to traditional control methods.

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Optimal Control Design for Robust Fuzzy Friction Compensation in a Robot Joint

Cited by 48 publications

References 23 publications

Regressor-free tracking of robots with self-tuning PD-like control

Regressor-free tracking of robots with self-tuning PD-like control

A novel approach to deal with temperature dependence of friction in mechanical control systems

A unified modeling and control design for precision transmission system with friction and backlash

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