Journal ArticleDOI
Sliding-Mode-Observer-Based Adaptive Control for Servo Actuator With Friction
TLDR
A novel sliding-mode observer based adaptive controller is developed for the servo actuators with friction based on the LuGre dynamic friction model to compensate the unknown friction and load torque.Abstract:
In this paper, a novel sliding-mode-observer-based adaptive controller is developed for the servo actuators with friction. The LuGre dynamic friction model is adopted for adaptive friction compensation. A sliding-mode observer is proposed to estimate the internal friction state of LuGre model. Based on the estimated friction state, adaptation laws are designed to compensate the unknown friction and load torque. The stability of the adaptive controller with sliding-mode observer is analyzed. The position tracking performance has been verified through both simulation and experimental resultsread more
Citations
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Journal ArticleDOI
High-Order Sliding-Mode Control of Variable-Speed Wind Turbines
TL;DR: The proposed sliding-mode control approach has been validated on a 1.5-MW three-blade wind turbine using the national renewable energy laboratory wind turbine simulator FAST (Fatigue, Aerodynamics, Structures, and Turbulence) code and results show that the proposed control strategy is effective in terms of power regulation.
Journal ArticleDOI
High-Order Terminal Sliding-Mode Observer for Parameter Estimation of a Permanent-Magnet Synchronous Motor
TL;DR: This paper proposes a terminal sliding-mode (TSM) observer for estimating the immeasurable mechanical parameters of permanent-magnet synchronous motors (PMSMs) used for complex mechanical systems and shows the effectiveness of the proposed method.
Journal ArticleDOI
Robust Compliant Motion Control of Robot With Nonlinear Friction Using Time-Delay Estimation
TL;DR: The proposed controller has a simple structure and yet provides good online friction compensation without modeling friction, and has been confirmed through comparisons with other controllers in 2-DOF SCARA-type industrial robot experiments.
Journal ArticleDOI
Friction Compensation of an $XY$ Feed Table Using Friction-Model-Based Feedforward and an Inverse-Model-Based Disturbance Observer
TL;DR: This paper analyzes and validates experimentally three different friction-compensation strategies for a linear motor-based xy feed drive of a high-speed milling machine: a friction- model-based feedforward, an inverse-model-based disturbance observer, and the combination of both techniques.
Journal ArticleDOI
Robust sliding mode control for Steer-by-Wire systems with AC motors in road vehicles
TL;DR: In this paper, the modeling of steer-by-wire (SbW) systems is further studied, and a sliding mode control scheme for the SbW systems with uncertain dynamics is developed, demonstrating the strong robustness with respect to large and nonlinear system uncertainties.
References
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Journal ArticleDOI
A new model for control of systems with friction
TL;DR: A new dynamic model for friction is proposed that captures most of the friction behavior that has been observed experimentally, including the Stribeck effect, hysteresis, spring-like characteristics for stiction, and varying break-away force.
Book
Modern Control Systems
Richard C. Dorf,Naresh K. Sinha +1 more
TL;DR: This book presents a control engineering methodology that, while based on mathematical fundamentals, stresses physical system modeling and practical control system designs with realistic system specifications.
Journal ArticleDOI
A survey of models, analysis tools and compensation methods for the control of machines with friction
TL;DR: This survey is the first to bring to the attention of the controls community the important contributions from the tribology, lubrication and physics literatures, and provides a set of models and tools for friction compensation which will be of value to both research and application engineers.
Journal Article
Control of Machines with Friction
TL;DR: A model for Friction Modeling and Compensation of Boundary Lubricants and the Impact of Static Friction Rising as a Function of Dwell Time is presented.
Journal ArticleDOI
Robust speed control of DC servomotors using modern two degrees-of-freedom controller design
T. Umeno,Yoichi Hori +1 more
TL;DR: In this paper, a robust speed control system for DC servomotors based on the parametrization of two-degree-of-freedom controllers is proposed, which can dramatically improve the characteristics of the closed loop systems, i.e., the disturbance torque suppression performance and the robustness to system parameter variations, without changing the command input response.