Sliding-mode-observer-based adaptive control for servo actuator with friction

IEEE Transactions on Industrial Electronics

Volumn 54, Issue 3, 2007, Pages 1517-1527

  Xie, Wen Fang ^a  

^a Gina Cody School of Engineering and Computer Science   (Canada)

Author keywords

Adaptive control; Dynamic friction model; Servo actuator; Sliding mode observer

Indexed keywords

ADAPTATION LAW; ADAPTIVE CONTROL; ADAPTIVE CONTROLLERS; ADAPTIVE FRICTION COMPENSATION; DYNAMIC FRICTION; LOAD TORQUES; LUGRE MODEL; POSITION TRACKING; SERVOACTUATOR; SLIDING MODES; SLIDING-MODE OBSERVER;

ADAPTIVE CONTROL SYSTEMS; CONTROLLERS; DYNAMIC LOADS; FRICTION; MICROACTUATORS;

TRIBOLOGY;

EID: 38349009334     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2007.894718     Document Type: Article

References (23)

1. B. Armstrong-Hélouvry, Control of Machines With Friction. Norwell, MA: Kluwer, 1991.
2. B. Armstrong-Hélouvry, P. Dupont, and C. C. de Wit, "A survey of models, analysis tools and compensation methods for the control of machines with friction," Automatica, vol.30, no.7, pp. 1083-1138, 1994.
3. P. Dupont, "Avoiding stick-slip through PD control," IEEE Trans. Autom. Control, vol.39, no.5, pp. 1094-1097, May 1994.
4. P. E. Dupont and E. P. Dunlap, "Friction modelling and PD compensation at very low velocities," Trans. ASME, vol.117, no.1, pp. 8-14, Mar. 1995.
5. C. C. de Wit, P. Noel, A. Aubin, and B. Brogliato, "Adaptive friction compensation in robot manipulators: Low velocities," Int. J. Robot. Res., vol.10, no.3, pp. 189-199, 1991.
6. C. C. de Wit, H. Olsson, K. Astrom, and P. Lischinsky, "A new model for control of systems with friction," IEEE Trans. Autom. Control, vol.40, no.3, pp. 419-425, Mar. 1995.
7. W. F. Xie, M. Krzeminski, H. El-Tahan, and M. El-Tahan, "Intelligent friction compensation (IFC) in a harmonic drive," in Proc. NECEC, St. John's, NF, Canada, 2002. [Online]. Available: http://www.ieee.nfld.net/NECEC02/ abstracts/session3b.htm
8. K. Khayati, P. Bigras, and L.-A. Dessaint, "A multistage position/force control for constrained robotic systems with friction: Joint-space decomposition, linearization, and multiobjective observer/controller synthesis using LMI formalism," IEEE Trans. Ind. Electron., vol.53, no.5, pp. 1698-1712, Oct. 2006.
9. F. Jatta, G. Legnani, and A. Visioli, "Friction compensation in hybrid force/velocity control of industrial manipulator," IEEE Trans. Ind. Electron., vol.53, no.2, pp. 604-613, Apr. 2006.
10. C. Lascu and G.-D. Andreescu, "Sliding-mode observer and improved integrator with DC-offset compensation for flux estimation in sensorless-controlled induction motors," IEEE Trans. Ind. Electron., vol.53, no.3, pp. 785-794, Jun. 2006.
11. S. N. Huang, K. K. Tan, and T. H. Lee, "Adaptive friction compensation using neural network approximation," IEEE Trans. Syst., Man, Cybern. C, Appl. Rev., vol.30, no.4, pp. 551-557, Nov. 2000.
12. K. Kiguchi and T. Fukuda, "Fuzzy neural friction compensation method of robot manipulation during position/force control," in Proc. IEEE Int. Conf. Robot. Autom., 1996, vol.1, pp. 372-377.
13. Y. Tan, J. Chang, and H. Tan, "Adaptive backstepping control and friction compensation for AC servo with inertia and load uncertainties," IEEE Trans. Ind. Electron., vol.50, no.5, pp. 944-952, Oct. 2003.
14. R. Selmic and F. L. Lewis, "Neural network approximation of piecewise continuous functions: Application to friction compensation," IEEE Trans. Neural Netw., vol.13, no.3, pp. 745-751, May 2002.
15. S. S. Ge, T. H. Lee, and S. X. Ren, Adaptive friction compensation of servo mechanisms, in Proc. IEEE Int. Conf. Control Appl., Aug. 1999, 1175-1180. (Pubitemid 30515614)
16. C. T. Johnson and R. D. Lorenz, "Experimental identification of friction and its compensation in precise, position controlled mechanism," IEEE Trans. Ind. Appl., vol.28, no.6, pp. 1392-1398, Nov./Dec. 1992.
17. A. Derdiyok, "Speed-sensorless control of induction motor using a continuous control approach of sliding-mode and flux observer," IEEE Trans. Ind. Electron., vol.52, no.4, pp. 1170-1176, Aug. 2005.
18. Z. Yan, C. Jin, and V. I. Utkin, "Sensorless sliding-mode control of induction motors," IEEE Trans. Ind. Electron., vol.47, no.6, pp. 1286-1297, Dec. 2000.
19. I. Haskara, U. Ozguner, and V. Utkin, "Variable structure systems," in Proc. IEEE Int. Workshop VSS, Dec. 1996, pp. 193-198.
20. T. Umeno and Y. Hori, "Robust speed control of DC servomotors using modern two-degrees-of-freedom controller design," IEEE Trans. Ind. Electron., vol.38, no.5, pp. 363-368, Oct. 1991.
21. P. Lischinsky, C. C. de Wit, and G. Morel, "Friction compensation for an industrial hydraulic robot," IEEE Control Syst. Mag., vol.19, no.1, pp. 25-32, Feb. 1999.
22. P. E.Wellstead and M. B. Zarrop, Self-Tuning Systems Control and Signal Processing. Hoboken, NJ: Wiley, 1991.
23. R. C. Dorf and R. H. Bishop, Modern Control Systems, 10th ed. Englewood Cliffs, NJ: Prentice-Hall, 2005.