Friction Compensation for High Precision Turntable UsingAdaptive Sliding Mode Controller

摘要：

To compensate for the dynamic friction effects in the high precision turntable system, a control scheme using adaptive sliding mode techniques is proposed. The friction force in the turntable system is characterized by the Lugre dynamic friction model. Both the system parameters and the dynamic friction parameters are assumed to be unknown, but each of them belongs to a known bounded region centered at its nominal value. The update laws and dual observers based on a smooth projection algorithm are developed to estimate the unknown parameters and the unmeasurable friction state. Furthermore, a sliding mode control term is incorporated to tackle the bounded disturbances and modeling uncertainties. The asymptotic stability of the closed loop system is shown via Lyapunov-based argument. Finally, simulation results validate the effectiveness of the proposed approach.

作者: Zhongshan WANG Yi WANG Baoku SU

作者单位: Harbin Institute of Technology, China

会议类型: 国际会议

会议名称: 2nd IEEE Conference on Industrial Electronics and Applications(ICIEA 2007)(第二届IEEE工业电子与应用国际会议)

会议地点: 哈尔滨

会议语种:英文

在线出版日期: 2007-05-23（万方平台首次上网日期，不代表论文的发表时间）