LuGre-Model-Based Friction Compensation
Leonid Freidovich, Anders Robertsson, Anton Shiriaev, Rolf Johansson
A tracking problem for a mechanical system is considered. We start with a feedback controller that is designed without attention to disturbances, which are assumed to be adequately described by a dynamic LuGre friction model. We are interested in deriving a superimposed observer-based compensator to annihilate or reduce the influence of such a disturbance. We exploit a recently suggested approach for observer design for LuGre-friction- model-based compensation. In order to apply this technique, it is necessary to know the Lyapunov function for the unperturbed system, as well as the parameters of the dynamic friction model, and to verify that a certain structural property satisfied. The case when the system is passive with respect to the matching disturbance related to the given Lyapunov function is illustrated in this brief with a DC-motor example. The main contribution is some new insights into the numerical real-time implementation of a compensator for disturbances describable by one of various LuGretype models. The other contribution, which is built upon the main one, is experimental verification of the suggested model-based observer design procedure.
Friction compensation, LuGre model, observer design, real-time implementation
IEEE Transactions on Control Systems Technology, 18:1, pp. 194200, January 2010.