NDLI: Friction compensation using time variant disturbance observer based on the LuGre model

Content Provider	IEEE Xplore Digital Library
Author	Hoshino, D. Kamamichi, N. Ishikawa, J.
Copyright Year	2012
Description	Author affiliation: Department of Robotics and Mechatronics, Tokyo Denki University, 2-2, Kanda Nishiki-cho, Chiyoda-ku, Tokyo 101-8457, Japan (Hoshino, D.; Kamamichi, N.; Ishikawa, J.)
Abstract	This paper reports experimental evaluation results of a time variant disturbance observer based on the LuGre friction model for friction compensation. The observer is designed from state space expressions of a controlled plant with the LuGre model that is locally-linearized every sampling period. Thus, observer gains derived from the linearized model become time variant ones as a function of velocity. Parameters of the LuGre model were experimentally identified for a linear stage driven by a ball screw with an AC motor, i.e., a controlled plant. To show the validity of the proposed method, experiments using the controlled plant were conducted to evaluate tracking errors for positioning control with and without the proposed disturbance observer. From the experimental results, it has been confirmed that the proposed disturbance observer can eliminate influence of the friction and is effective to improve positioning accuracy.
Starting Page	1
Ending Page	6
File Size	948891
Page Count	6
File Format	PDF
ISBN	9781457710728
e-ISBN	9781457710735
e-ISBN	9781457710711
DOI	10.1109/AMC.2012.6197030
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-03-25
Publisher Place	Bosnia and Herzegovina
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Friction Observers Force AC motors Trajectory Hysteresis Friction compensation LuGre model Positioning control Disturbance observer
Content Type	Text
Resource Type	Article

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