Zero phase error tracking control with friction compensation based motion control system

Author

Wang, Xin ; Liu, Nengfeng ; Liu, Zhiqiang ; Wang, Maobin

Author_Institution

Shenzhen Grad. Sch., Harbin Inst. of Technol., Shenzhen, China

fYear

2009

fDate

22-24 June 2009

Firstpage

1199

Lastpage

1204

Abstract

For motion system, the friction and servo lag are the factors of causing tracking error. Traditionally the friction is regarded as external disturbance and compensated by closed-loop control system. It often leads to quadrant glitches. In this paper, zero phase error tracking control (ZPETC) with friction compensation is presented where the friction model-LuGre model is established to estimate friction condition. Simulation and experimental results show that the controller can refine the tacking error compared with the ZPETC without friction compensation.

Keywords

closed loop systems; friction; motion control; tracking; variable structure systems; closed-loop control system; friction compensation; friction condition estimation; motion control system; tracking error; zero phase error tracking control; Automation; Control systems; Error correction; Friction; Motion control; Motion planning; Servomechanisms; Servosystems; Tracking; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation, 2009. ICIA '09. International Conference on

Conference_Location

Zhuhai, Macau

Print_ISBN

978-1-4244-3607-1

Electronic_ISBN

978-1-4244-3608-8

Type

conf

DOI

10.1109/ICINFA.2009.5205099

Filename

5205099