PRECISE POSITION CONTROL OF MECHANICAL SYSTEMS WITH FRICTION BASED ON DYNAMIC LUGRE MODE

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ANSARI HAMID; DAVAIE MARKAZI AMIR HOSSEIN

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Journal: Modares Mechanical Engineering Year:2015 | Volume:14 | Issue:1 Page(s): 1-9

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Title

PRECISE POSITION CONTROL OF MECHANICAL SYSTEMS WITH FRICTION BASED ON DYNAMIC LUGRE MODE

Author(s)

ANSARI HAMID | DAVAIE MARKAZI AMIR HOSSEIN | Issue Writer Certificate

Keywords

DYNAMIC LUGRE MODELQ2

FRICTION OBSERVERQ2

SLIDING MODE CONTROLQ1

ADAPTIVE FUZZY CONTROLQ2

Abstract

Friction is an inevitable issue in most of mechanical servo systems. Friction has a counter-effect on the dynamic performance of servo mechanisms and needs to be considered in the design process. Particularly, in high-performance motion systems, friction can severely deteriorate performance and can cause tracking errors, longer settling time and limit cycles. In this paper, a new method is presented based on the adaptive fuzzy SLIDING MODE CONTROL strategy for position control of mechanical systems. The first order DYNAMIC LUGRE MODEL is used for the design of FRICTION OBSERVER. Unlike previous papers, the control input and friction are applied to the system with non-equal gains. An adaptive law is employed for the estimation of the ratio between the gains of input and friction terms. Various uncertainties on parameters of friction also are considered and an appropriate control strategy is designed to tackle these uncertainties.

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APA: Copy

ANSARI, HAMID, & DAVAIE MARKAZI, AMIR HOSSEIN. (2015). PRECISE POSITION CONTROL OF MECHANICAL SYSTEMS WITH FRICTION BASED ON DYNAMIC LUGRE MODE. MODARES MECHANICAL ENGINEERING, 14(1), 1-9. SID. https://sid.ir/paper/179809/en

Vancouver: Copy

ANSARI HAMID, DAVAIE MARKAZI AMIR HOSSEIN. PRECISE POSITION CONTROL OF MECHANICAL SYSTEMS WITH FRICTION BASED ON DYNAMIC LUGRE MODE. MODARES MECHANICAL ENGINEERING[Internet]. 2015;14(1):1-9. Available from: https://sid.ir/paper/179809/en

IEEE: Copy

HAMID ANSARI, and AMIR HOSSEIN DAVAIE MARKAZI, “PRECISE POSITION CONTROL OF MECHANICAL SYSTEMS WITH FRICTION BASED ON DYNAMIC LUGRE MODE,” MODARES MECHANICAL ENGINEERING, vol. 14, no. 1, pp. 1–9, 2015, [Online]. Available: https://sid.ir/paper/179809/en

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