Title :
Discontinuous piecewise parametric modeling and compensation control for manipulator systems with friction
Author :
Lv Xiaohua ; Li Dongwu ; Ren Xuemei
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
A novel compensation control based on intelligent modeling for joint friction in manipulator systems is proposed in this paper. The modeling algorithm exploits the discontinuous piecewise parametric representation (DPPR) as the estimator of generalized friction while the controller is a non-model feedforward compensator. The DPPR modeling captures the main characteristics of friction including Stribeck effect, discontinuous at zero, Coulomb and viscous friction. Dynamics knowledge of the plant is not required. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Simulation results show that the proposed controller performs well for a 3-link manipulator system.
Keywords :
compensation; feedforward; friction; manipulators; parameter estimation; Coulomb; Lyapunov criterion; Stribeck effect; compensation control; discontinuous piecewise parametric modeling; discontinuous piecewise parametric representation; dynamics knowledge; intelligent modeling; joint friction; manipulator systems; nonmodel feedforward compensator; three-link manipulator system; viscous friction; Feedforward neural networks; Force; Friction; Joints; Manipulator dynamics; Torque; Discontinuous piecewise parametric representation; Feedforward compensation; Friction dynamics; Manipulator systems;
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768