LMI-based design of robust gain-scheduling control for precise slow motion in a servodrive

Author

Mostefai, Lotfi ; Denaï, Mouloud ; Hori, Yoichi

Author_Institution

Inst. of Ind. Sci., Univ. of Tokyo, Tokyo

fYear

2008

fDate

10-13 Nov. 2008

Firstpage

2557

Lastpage

2561

Abstract

This paper presents a new control design method to solve the problem of uncertain friction compensation in robot joint control. A friction force observer is designed using local models of friction interpolated by mean of weighting functions. The estimated friction is used in a minor loop for a compensation purpose and the resulting dynamics after compensation are considered for the synthesis of robust gain scheduling control scheme with uncertain friction compensation assumptions. The performance of this method is verified by simulations and experiments performed on a robot joint.

Keywords

compensation; control system synthesis; force control; friction; linear matrix inequalities; observers; robot kinematics; robust control; servomechanisms; LMI-based design; control design; friction force observer; robot joint control; robust gain-scheduling control; servodrive; slow motion; uncertain friction compensation; Automatic control; Control systems; Force control; Friction; Motion control; Nonlinear dynamical systems; Optimal control; Robots; Robust control; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2008. IECON 2008. 34th Annual Conference of IEEE

Conference_Location

Orlando, FL

ISSN

1553-572X

Print_ISBN

978-1-4244-1767-4

Electronic_ISBN

1553-572X

Type

conf

DOI

10.1109/IECON.2008.4758359

Filename

4758359