[1]郭 健,季晶晶,杨 帆,等.基于LuGre摩擦模型的伺服系统自适应鲁棒控制器[J].南京理工大学学报(自然科学版),2013,37(06):779-784.
 Guo Jian,Ji Jingjing,Yang Fan,et al.Adaptive robust controller for servo system based on LuGre model of friction[J].Journal of Nanjing University of Science and Technology,2013,37(06):779-784.
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基于LuGre摩擦模型的伺服系统自适应鲁棒控制器
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
37卷
期数:
2013年06期
页码:
779-784
栏目:
出版日期:
2013-12-31

文章信息/Info

Title:
Adaptive robust controller for servo system based on LuGre model of friction
作者:
郭 健12季晶晶1杨 帆1姚 斌3
1.南京理工大学 自动化学院,江苏 南京 210094;
2.浙江大学 流体动力与机电系统国家重点实验室,浙江 杭州310027;
3.普渡大学 机械工程学院,美国 印第安纳州 西拉法叶IN 47907
Author(s):
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
关键词:
LuGre摩擦模型 伺服系统 自适应控制 鲁棒控制
Keywords:
LuGre friction model servo system adaptive control robust control
分类号:
TP13
摘要:
针对具有摩擦非线性、参数不确定性以及外界扰动的伺服系统,建立了基于LuGre摩擦模型的控制系统模型。在此基础上,设计了自适应鲁棒控制器。该控制器包括基于模型在线参数估计的自适应补偿、稳定反馈和鲁棒控制三部分。分析了鲁棒控制部分的机理。利用Lyapunov稳定性方法证明了该闭环控制器信号有界,且跟踪误差在任意要求的精度范围内。仿真结果验证了该控制器的有效性。
Abstract:
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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备注/Memo

备注/Memo:
收稿日期:2012-12-18 修回日期:2013-10-12
基金项目:国家自然科学基金(61074023); 江苏省科技支撑计划(BE2012175); 江苏省“333工程”科研项目资助计划(BRA2012163); 浙江大学流体动力与机电系统国家重点实验室开放基金(GZKF-201203)
作者简介:郭健(1974-),男,博士,教授,主要研究方向:电机控制、智能控制等,E-mail:guoj1002@njust.edu.cn。
引文格式:郭健,季晶晶,杨帆,等.基于LuGre摩擦模型的伺服系统自适应鲁棒控制器[J].南京理工大学学报,2013,37(6):779-784.
投稿网址:http://njlgdxxb.paperonce.org
更新日期/Last Update: 2013-12-31