Title :
Sliding-Mode Observer Based Adaptive Control for Servo Actuator with Friction
Author :
Xie, Wen-Fang ; Zhao, Zhong-Yu
Author_Institution :
Concordia Univ., Montreal
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 experimental results.
Keywords :
adaptive control; observers; servomechanisms; variable structure systems; LuGre dynamic friction model; adaptive control; adaptive friction compensation; friction state estimation; internal friction state; servoactuator; sliding-mode observer; stability; Actuators; Adaptive control; Friction; Observers; Programmable control; Servomechanisms; Sliding mode control; Stability analysis; State estimation; Torque; Adaptive Control; Friction Compensation; Sliding-mode Observer;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4303718
