FRICTION COMPENSATION VIA ACCELERATION FEEDBACK CONTROL BASED ON FRICTION ESTIMATION

摘要：

A classical PID controller for a certain turntable positioning system is enhanced to compensate for the Coulomb friction by incorporating an inner acceleration feedback loop.The acceleration signal is assumed to be computed based on friction estimation. In order to estimate the frictional torque, a novel nonlinear observer is developed. And its global asymptotical stability is proved as well. The simulation results are given against those obtained by classical PID control without acceleration feedback loop, to demonstrate the effectiveness of the proposed approach.

关键词： Friction compensation Acceleration feedback Friction observer

作者: ZHONG-SHAN WANG MING ZENG BAO-KU SU

作者单位: Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China

会议类型: 国际会议

会议名称: 2006 International Conference on Machine Learning and Cybernetics(IEEE第五届机器学习与控制论坛)

会议地点: 大连

会议语种:英文

页码: 972-977

在线出版日期: 2006-08-13（万方平台首次上网日期，不代表论文的发表时间）