Sliding-mode-observer-based adaptive control for servo actuator with friction

被引：144

作者：

Xie, Wen-Fang ^{[1
]}

机构：

[1] Concordia Univ, Dept Mech & Ind Engn, Montreal, PQ H3G 1M8, Canada

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2007年 / 54卷 / 03期

关键词：

adaptive control; dynamic friction model; servo actuator; sliding-mode observer;

D O I：

10.1109/TIE.2007.894718

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a novel sliding-mode-observer-based adaptive controller is developed for the servo actuators with friction. The LuGre dynamic friction model is adopted for adaptive friction compensation. A sliding-mode observer is proposed to estimate the internal friction state of LuGre model. Based on the estimated friction state, adaptation laws are designed to compensate the unknown friction and load torque. The stability of the adaptive controller with sliding-mode observer is analyzed. The position tracking performance has been verified through both simulation and experimental results.

引用

页码：1517 / 1527

页数：11

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