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Adaptive robust controller for servo system based on LuGre model of friction


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Adaptive robust controller for servo system based on LuGre model of friction
Guo Jian12Ji Jingjing1Yang Fan1Yao Bin3
1.School of Automation,NUST,Nanjing 210094,China;
2.The State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,China;
3.School of Mechanical Engineering,Purdue University,West Lafayette,Indiana IN 47907,USA
LuGre friction model servo system adaptive control robust control
A control system model based on LuGre friction model is given for a servo system with friction nonlinearity,parameter uncertainty and disturbance.An adaptive robust controller(ARC)is developed based on the model.The proposed controller consists three parts:adaptive compensation based on parameter estimation online,stable feedback,robust control analyzed in detail.It is proved that the signals of this closed-loop controller are bounded and the tracking error is within the desired precision by Lyapunov stability theory.Simulation results illustrate the effectiveness of the ARC.


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Last Update: 2013-12-31