Title :
On position control using GMS-Model-Based Friction Compensation and Velocity Reduced-Order Observer for Servo-Systems - LMI approach
Author_Institution :
Dept. of Mech. Eng., R. Mil. Coll., Kingston, ON
Abstract :
This paper is devoted to a stabilization problem for a servo-system under the influence of friction. The proposed approach is based on a multi-objective control design using a reduced-order velocity observer, a generalized Maxwell-slip (GMS) model-based friction compensation and a linear time invariant (LTI) compensator simultaneously. Stabilization conditions on interconnected systems are investigated with strictly positive real (SPR) condition on linear closed-loop dynamics of hierarchical systems using linear matrix inequality (LMI) frameworks. The appeal of this proven theoretical design is further demonstrated by numerical results.
Keywords :
closed loop systems; control system synthesis; friction; interconnected systems; linear matrix inequalities; position control; reduced order systems; servomechanisms; stability; GMS-model-based friction compensation; LMI; generalized Maxwell-slip model-based friction compensation; interconnected systems; linear closed-loop dynamics; linear matrix inequality; linear time invariant compensator; multiobjective control; position control; servo-systems; stabilization problem; strictly positive real condition; velocity reduced-order observer; Control design; Force control; Force measurement; Friction; Hierarchical systems; Interconnected systems; Output feedback; Position control; Position measurement; Velocity control; Friction compensation; GMS model; Hierarchical systems; Interconnected systems; LMI; Multi-objective design; Position control; Reduced-order velocity observer; SPR condition; Stabilization;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694402
