Velocity-free friction compensation for motion systems with actuator constraint

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Velocity-free friction compensation for motion systems with actuator constraint. / Su, Yuxin; Zheng, Chunhong; Mercorelli, Paolo.
In: Mechanical Systems and Signal Processing, Vol. 148, 107132, 01.02.2021.

Research output: Journal contributionsJournal articlesResearchpeer-review

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@article{03abb0d5e5cf492591d6021b847ae86b,
title = "Velocity-free friction compensation for motion systems with actuator constraint",
abstract = "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.",
keywords = "Engineering, Actuator constraint, Friction compensation, Motion systems, Nonlinear proportional-derivative (PD) control, Output feedback",
author = "Yuxin Su and Chunhong Zheng and Paolo Mercorelli",
note = "Publisher Copyright: {\textcopyright} 2020 Elsevier Ltd",
year = "2021",
month = feb,
day = "1",
doi = "10.1016/j.ymssp.2020.107132",
language = "English",
volume = "148",
journal = "Mechanical Systems and Signal Processing",
issn = "0888-3270",
publisher = "Academic Press Inc.",

}

RIS

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 -