Velocity-free friction compensation for motion systems with actuator constraint
Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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in: Mechanical Systems and Signal Processing, Jahrgang 148, 107132, 01.02.2021.
Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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TY - JOUR
T1 - Velocity-free friction compensation for motion systems with actuator constraint
AU - Su, Yuxin
AU - Zheng, Chunhong
AU - Mercorelli, Paolo
N1 - Publisher Copyright: © 2020 Elsevier Ltd
PY - 2021/2/1
Y1 - 2021/2/1
N2 - This paper concerns on the output feedback problem of fast and precise positioning for uncertain motion systems subject to friction and actuator constraint by position measurement only. A simple model-independent saturated robust output feedback nonlinear proportional-derivative (PD) control is proposed by adding relay action driven by position error. Lyapunov's direct method is employed to prove global asymptotic positioning stability. The appealing advantages of the proposed approach are that it is fairly easy to construct with simple and intuitive structure and without reference to modeling parameter and velocity measurement and has the ability to ensure that the actuator constraint is not violated. This is accomplished by selecting control gains a priori. Numerical simulations and real-time experimental validations demonstrate that the proposed approach provides an easy-going model-free solution for high performance positioning of uncertain motion systems subject to unknown friction and actuator constraint with position measurement only.
AB - This paper concerns on the output feedback problem of fast and precise positioning for uncertain motion systems subject to friction and actuator constraint by position measurement only. A simple model-independent saturated robust output feedback nonlinear proportional-derivative (PD) control is proposed by adding relay action driven by position error. Lyapunov's direct method is employed to prove global asymptotic positioning stability. The appealing advantages of the proposed approach are that it is fairly easy to construct with simple and intuitive structure and without reference to modeling parameter and velocity measurement and has the ability to ensure that the actuator constraint is not violated. This is accomplished by selecting control gains a priori. Numerical simulations and real-time experimental validations demonstrate that the proposed approach provides an easy-going model-free solution for high performance positioning of uncertain motion systems subject to unknown friction and actuator constraint with position measurement only.
KW - Engineering
KW - Actuator constraint
KW - Friction compensation
KW - Motion systems
KW - Nonlinear proportional-derivative (PD) control
KW - Output feedback
UR - http://www.scopus.com/inward/record.url?scp=85088894864&partnerID=8YFLogxK
U2 - 10.1016/j.ymssp.2020.107132
DO - 10.1016/j.ymssp.2020.107132
M3 - Journal articles
AN - SCOPUS:85088894864
VL - 148
JO - Mechanical Systems and Signal Processing
JF - Mechanical Systems and Signal Processing
SN - 0888-3270
M1 - 107132
ER -