A new model-based dynamic feedback control for systems with friction

Author

Khayati, Karim ; Bigras, Pascal

Author_Institution

Control & Robotics Lab. (CoRo), Quebec

fYear

2007

fDate

7-10 Oct. 2007

Firstpage

2710

Lastpage

2715

Abstract

This paper deals with an extended output- feedback positioning tracking of a servo-system with friction based on generalized Maxwell-slip (GMS) friction observer dynamics with fixed model parameters. We succeed in designing a linear time invariant (LTI) compensator which ensures exponential stabilization and additional multi-objective features (e.g. closed-loop pole location). These conditions are expressed in terms of linear matrix inequalities (LMIs). Numerous simulations results illustrate the effectiveness of the proposed compensator and state a comparison with the similar LuGre closed-loop friction compensator.

Keywords

asymptotic stability; closed loop systems; compensation; control system synthesis; feedback; friction; linear matrix inequalities; linear systems; observers; position control; servomechanisms; tracking; GMS friction observer dynamics; LMI; LTI compensator design; closed-loop pole location; exponential stabilization; fixed model parameters; generalized Maxwell-slip; linear matrix inequalities; linear time invariant compensator; model-based dynamic feedback control; observer-based controller design; output-feedback positioning tracking; servo-system; Feedback control; Friction; Linear matrix inequalities; Output feedback; Pi control; Position measurement; Proportional control; Stability; Velocity control; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on

Conference_Location

Montreal, Que.

Print_ISBN

978-1-4244-0990-7

Electronic_ISBN

978-1-4244-0991-4

Type

conf

DOI

10.1109/ICSMC.2007.4413885

Filename

4413885