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Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2011> 20(1): 105-110
SHAO Zhi-yu, FANG Dong-yang, ZHANG Xiao-dong. Adaptive high precision position control of servo actuator with friction compensation using LuGre model[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2011, 20(1): 105-110.
Citation: SHAO Zhi-yu, FANG Dong-yang, ZHANG Xiao-dong. Adaptive high precision position control of servo actuator with friction compensation using LuGre model[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2011, 20(1): 105-110.
shu

Adaptive high precision position control of servo actuator with friction compensation using LuGre model

  • 1.

    State Key Laboratory of Explosion Science and Technology, Beijing Institute of Technology, Beijing 100081, China

  • 2.

    School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China

  • 3.

    China Academy of Space Technology, Beijing 100094, China

  • Received Date:2010-05-19
    Abstract
  • Adaptive control of servo actuator with nonlinear friction compensation is addressed. LuGre dynamic friction model is adopted to characterize the nonlinear friction and a new kind of sliding-mode observer is designed to estimate the internal immeasurable state of LuGre model. Based on the estimated friction state, adaptive laws are designed to identify the unknown model parameters and the external disturbances, and the system stability and asymptotic trajectory tracking performance are guaranteed by Lyapunov function. The position tracking performance is verified by the experimental results.
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    • References (8)
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