A Simple Nonlinear Proportional-Derivative Controller for Friction Compensation

摘要：

This paper addresses the global asymptotic tracking of one-degree-of-freedom (DOF) uncertain mechanical systems with unknown friction. A very simple variable structure-like nonlinear proportional-derivative (NP-D) controller is proposed. The closed-loop system formed by the controller and the mechanical system is shown to be global asymptotically stable. Advantages of the proposed controller include an absence of modeling parameters in the control law formulation and the control gains are easy tuned according to some simple explicit conditions, and thus it is readily implemented. Even when the proposed scheme is modified to avoid the possible chattering in practical implementation, the overall performance remains appealing. The effectiveness of the proposed approach is illustrated via simulation results.

作者: Yuxin Su Chunhong Zheng

作者单位: School of Electro-Mechanical Engineering,Xidian University,Xian 710071,China School of Electronic Engineering,Xidian University,Xian 710071,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2007-2012

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）