电气工程 |
|
|
|
|
基于简化非线性观测器的LuGre动态摩擦力补偿 |
钟琮玮, 项基, 韦巍, 张远辉 |
浙江大学 电气工程学院,浙江 杭州 310027 |
|
Simple nonlinear observer based dynamic LuGre friction compensation |
ZHONG Cong-wei, XIANG Ji, WEI Wei, ZHANG Yuan-hui |
College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China |
引用本文:
钟琮玮, 项基, 韦巍, 张远辉. 基于简化非线性观测器的LuGre动态摩擦力补偿[J]. J4, 2012, 46(4): 764-769.
ZHONG Cong-wei, XIANG Ji, WEI Wei, ZHANG Yuan-hui. Simple nonlinear observer based dynamic LuGre friction compensation. J4, 2012, 46(4): 764-769.
链接本文:
http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2012.04.028
或
http://www.zjujournals.com/eng/CN/Y2012/V46/I4/764
|
[1] KHAYATI K, BIGRAS P, DESSAINT L A. A multistage position/force control for constrained robotic systems with friction: jointspace decomposition, linearization, and multi objective observer/controller synthesis using LMI formalism [J]. IEEE Transactions on Industrial Electronics, 2006, 53(5): 1698-1712.
[2] DHAOUADI R. Torque control in harmonic drives with nonlinear dynamic friction compensation [J]. Journal of Robotics and Mechatronics, 2004, 16(4): 388-396.
[3] ARMSTRONGHELOUVRY B, DUPONT P, DE WIT C C. A survey of models, analysis tools and compensation methods for the control of machines with friction [J]. Automatica, 1994, 30(7): 1083-1138.
[4] WANG Hongli, WANG Xia, TANG Yujun. Robot friction compensation based on neural network [C]∥2nd International Conference on Computer Engineering and Technology (ICCET). Chengdu: [s.n.], 2010: 304-307.
[5] TAN Yaolong, CHANG Jie, TAN Hualin. Adaptive backstepping control and friction compensation for AC servo with inertia and load uncertainties [J]. IEEE Transactions on Industrial Electronics, 2003, 50(5): 944-952.
[6] DE WIT C C, OLSSON H, ASTROM K J, et al. A new model for control of systems with friction [J]. IEEE Transactions on Automatic Control, 1995, 40(3): 419-425.
[7] ZHU Yongliang, PAGILLA P R. Static and dynamic friction compensation in trajectory tracking control of robots [C]∥IEEE International Conference on Robotics and Automation. Washington DC: IEEE, 2002: 2644-2649.
[8] ASTROM K J, DE WIT C C. Revisiting the LuGre friction model [J]. IEEE Control Systems Magazine, 2008, 28(6): 101114.
[9] TAN Yaolong, KANELLAKOPOULOS I. Adaptive non linear friction compensation with parametric uncertainties [C]∥ Proceedings of American Control Conference. San Diego: [s.n.], 1999: 2511-2515.
[10] XIE Wenfang. Slidingmodeobserverbased adaptive control for servo actuator with friction [J]. IEEE Transactions on Industrial Electronics, 2007, 54(3): 1517-1527.
[11] XIE Wenfang, KRZEMINSKI M, ELTAHAN H, et al. Intelligent friction compensation (IFC) in a harmonic drive [C]∥Proceedings of the IEEE 10th Annual Newfoundland Electrical and Computer Engineering Conference. St. John’s, NF, Canada: IEEE, 2002.
[12] KABGANIAN M, ERFANIAN V. Adaptive trajectory control and dynamic friction compensation for a flexiblelink robot [J]. Journal of Mechanics, 2010, 26(2): 205-217.
[13] DE WIT C C, KELLY R. Passivity analysis of a motion control for robot manipulators with dynamic friction [J]. Asian Journal of Control, 2007, 9(1): 30-36.
[14] MALAGARI S, DRIESSEN B J. Globally exponential continuous controller/observer for position tracking in robot manipulators with hysteretic joint friction [J]. Robotica, 2010, 28(5): 759-763. |
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
|
Shared |
|
|
|
|
|
Discussed |
|
|
|
|