A dynamic feedback tracking design for systems with friction using the LMI formulation

Author

Khayati, Karim ; Bigras, Pascal ; Dessaint, Louis-A

Author_Institution

Ecole de Technol. Superieure, Quebec Univ., Montreal, Que., Canada

Volume

1

fYear

2004

fDate

2-4 Sept. 2004

Firstpage

819

Abstract

This paper addresses an extended output feedback positioning tracking of a servo-system with friction. It is based on LuGre friction observer dynamics with fixed model parameters. Our design features a global asymptotic stability of the tracking error while sustaining desired transient specifications using dual conditions of strictly positive real (SPR) one and exponential stability margin. These latter have to be fixed with respect to specific pole placement limiting fast controller dynamics. Our full-order dynamic output feedback controller is composed of two components: the first deals with the tracking context and the second represents a correction term in the observer from the position and velocity errors. The subsequent linear state space controller matrices are found by using the linear matrix inequality (LMI) approach. Simulation results illustrate the effectiveness of the proposed compensator.

Keywords

asymptotic stability; compensation; control system synthesis; feedback; friction; linear matrix inequalities; mechanical variables control; observers; pole assignment; position control; servomechanisms; state-space methods; LMI; LuGre friction observer dynamics; dynamic feedback tracking design; error correction; exponential stability margin; friction compensation; full order dynamic output feedback controller; global asymptotic stability; linear matrix inequality; linear state space controller matrices; output feedback positioning tracking; pole placement; position error; servosystem; strictly positive real condition; tracking error; velocity error; Asymptotic stability; Computer hacking; Friction; Linear matrix inequalities; Manufacturing automation; Output feedback; State feedback; State-space methods; Velocity control; Virtual manufacturing;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on

Print_ISBN

0-7803-8633-7

Type

conf

DOI

10.1109/CCA.2004.1387315

Filename

1387315