Title :
Sliding-Mode-Observer-Based Adaptive Control for Servo Actuator With Friction
Author_Institution :
Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, Que.
fDate :
6/1/2007 12:00:00 AM
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 results
Keywords :
actuators; adaptive control; compensation; friction; observers; servomechanisms; stability; tracking; variable structure systems; LuGre dynamic friction model; adaptive control; compensation; position tracking; servo actuator; sliding-mode-observer; stability; Actuators; Adaptive control; Friction; Observers; Programmable control; Servomechanisms; Sliding mode control; Stability analysis; State estimation; Torque; Adaptive control; dynamic friction model; servo actuator; sliding-mode observer;
Journal_Title :
Industrial Electronics, IEEE Transactions on
DOI :
10.1109/TIE.2007.894718
