TY - JOUR
T1 - Sliding observer for friction compensation in a linear-motor-driven motion system
AU - Horng, Rong Hwang
AU - Lee, An-Chen
PY - 2011/2
Y1 - 2011/2
N2 - In this work, a sliding-mode observer is developed for estimating unavoidable frictions and undesired disturbance in motion systems. The estimated parameters are then feedback for compensation to achieve precise control. With proper observability analysis performed by using Lie derivative method, the design of observer is based on the underlying nonlinear system with LuGre friction Model. While maintaining the stability of the observer, we choose the observer gains to make the system a dissipative one. As a conclusion in the last section, the proposed method is applied to a linear-motor-driven motion system. The experimental results show that the tracking and positioning performance with the proposed friction compensation method are smaller than those of the disturbance observer (DOB) compensation or without friction compensation.
AB - In this work, a sliding-mode observer is developed for estimating unavoidable frictions and undesired disturbance in motion systems. The estimated parameters are then feedback for compensation to achieve precise control. With proper observability analysis performed by using Lie derivative method, the design of observer is based on the underlying nonlinear system with LuGre friction Model. While maintaining the stability of the observer, we choose the observer gains to make the system a dissipative one. As a conclusion in the last section, the proposed method is applied to a linear-motor-driven motion system. The experimental results show that the tracking and positioning performance with the proposed friction compensation method are smaller than those of the disturbance observer (DOB) compensation or without friction compensation.
KW - Linear-motor-driven motion system
KW - LuGre friction model
KW - Observability analysis
KW - Sliding friction observer
KW - Stability analysis
UR - http://www.scopus.com/inward/record.url?scp=84863847677&partnerID=8YFLogxK
U2 - 10.29979/JCSME.201102.0008
DO - 10.29979/JCSME.201102.0008
M3 - Article
AN - SCOPUS:84863847677
SN - 0257-9731
VL - 32
SP - 67
EP - 78
JO - Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao
JF - Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao
IS - 1
ER -