Friction Compensation for High Precision Turntable Using Adaptive Sliding Mode Controller

Author

Wang, Z.S. ; Wang, Y. ; Su, B.K.

Author_Institution

Harbin Inst. of Technol., Harbin

fYear

2007

fDate

23-25 May 2007

Firstpage

1090

Lastpage

1094

Abstract

To compensate for the dynamic friction effects in the high precision turntable system, a control scheme using adaptive sliding mode techniques is proposed. The friction force in the turntable system is characterized by the Lugre dynamic friction model. Both the system parameters and the dynamic friction parameters are assumed to be unknown, but each of them belongs to a known bounded region centered at its nominal value. The update laws and dual observers based on a smooth projection algorithm are developed to estimate the unknown parameters and the unmeasurable friction state. Furthermore, a sliding mode control term is incorporated to tackle the bounded disturbances and modeling uncertainties. The asymptotic stability of the closed loop system is shown via Lyapunov-based argument. Finally, simulation results validate the effectiveness of the proposed approach.

Keywords

Lyapunov methods; adaptive control; asymptotic stability; closed loop systems; uncertain systems; variable structure systems; Lugre dynamic friction model; Lyapunov based argument; adaptive sliding mode controller; asymptotic stability; bounded disturbances; closed loop system; friction compensation; high precision turntable; modeling uncertainties; smooth projection; Adaptive control; Control systems; Friction; Observers; Parameter estimation; Programmable control; Projection algorithms; Sliding mode control; State estimation; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications, 2007. ICIEA 2007. 2nd IEEE Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0737-8

Electronic_ISBN

978-1-4244-0737-8

Type

conf

DOI

10.1109/ICIEA.2007.4318576

Filename

4318576