A Practical Two-Step Friction Determination for Motion Control Using LuGre Model

In Hyuk KIM  Young Ik SON  

IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E98-A   No.3   pp.890-893
Publication Date: 2015/03/01
Online ISSN: 1745-1337
DOI: 10.1587/transfun.E98.A.890
Type of Manuscript: LETTER
Category: Systems and Control
LuGre model,  friction identification,  PI observer,  motion control,  

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In order to improve the motion control performance, a new friction determination method, using the LuGre model, is proposed. The model parameters are determined by performing two-step closed-loop experiments using a proportional-integral observer (PIO). The PIO is also used to develop a robust motion controller to deal with additional uncertainties including the effect of the inaccurate estimation of the friction. The experimental results reveal improved performance compared to that of a single-PIO-based controller.