Friction Compensation Control to Achieve Pre-specified Transient and Steady-state Performance
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- Okuyama Atsushi
- Department of Precision Engineering, Tokai University
Bibliographic Information
- Other Title
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- あらかじめ指定された過渡性能と定常性能を実現する摩擦補償制御
- アラカジメ シテイ サレタ カト セイノウ ト テイジョウ セイノウ オ ジツゲン スル マサツ ホショウ セイギョ
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Abstract
<p>A friction compensation control method based on funnel control has been developed that achieves a pre-specified transient and steady-state performance. The proposed control method has the following features: (1) the controller is designed using a backstepping method, (2) the friction characteristic is represented by the LuGre model, (3) the nonlinear characteristic of the LuGre model is approximated by a neural network, and (4) the weights of the neural network are estimated adaptively. To verify the effectiveness of the proposed control method, experiments were performed using a positioning stage. As a result, it was confirmed that the proposed control method could achieve the pre-specified transient and steady-state performance even when the dynamic behavior of nonlinear friction changed.</p>
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 140 (10), 782-790, 2020-10-01
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390567172583763968
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- NII Article ID
- 130007920878
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- NII Book ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL BIB ID
- 030688465
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed