Control of mechanical systems with Stribeck friction and backlash

Systems and Control Letters

Volumn 58, Issue 2, 2009, Pages 141-147

  Márton, Lorinc ^a   Lantos, Béla ^b  

^a SAPIENTIA HUNGARIAN UNIVERSITY OF TRANSYLVANIA   (Romania)

^b BUDAPEST UNIVERSITY OF TECHNOLOGY AND ECONOMICS   (Hungary)

Author keywords

Backlash; Friction; Hybrid systems; LQ control; Motion control

Indexed keywords

ASYMPTOTIC STABILITY; ELECTRIC GROUNDING; FRICTION; HYBRID COMPUTERS; MATHEMATICAL MODELS; MECHANICAL ENGINEERING; MECHANICS; MECHATRONICS; MOTION CONTROL; MOTION PLANNING; TRIBOLOGY;

BACKLASH; CONTROL LAWS; CONTROL OF MECHANICAL SYSTEMS; CONTROLLED PLANTS; CONTROLLER DESIGNS; FRICTION MODELS; HYBRID SYSTEMS; LINEAR MODELS; LQ CONTROL; LQ CONTROLLERS; NON LINEARITIES; NONLINEAR FRICTIONS; SIMULATION RESULTS; STATE SPACES; TRAJECTORY TRACKING;

CONTROL SYSTEMS;

EID: 58149131332     PISSN: 01676911     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.sysconle.2008.10.001     Document Type: Article

References (28)

1. Armstrong-Hèlouvry B. Stick slip and control in low-speed motion. IEEE Transactions on Automatic Control 38 10 (1990) 1483-1496
2. Carlos C.d.W., Ollson H., Åstrom K.J., and Lischinsky P. A new model for control of systems with friction. IEEE Transactions on Automatic Control 40 3 (1995) 419-425
3. Swevers J., Al-Bender F., Ganseman C.G., and Prajogo T. An integrated friction model structure with improved presliding behavior for accurate friction compensation. IEEE Transactions on Automatic Control 45 5 (2000) 675-685
4. Lampaert V., Swevers J., and Al-Bender F. Modification of the Leuven integrated friction model structure. IEEE Transactions on Automatic Control 47 4 (2002) 683-687
5. Dupont P., Armstrong B., and Altpeter F. Single state elastoplastic friction models. IEEE Transactions on Automatic Control 47 5 (2002) 787-792
6. Armstrong-Hèlouvry B. Control of Machines with Friction (1991), Kluver Academic Press, Boston
7. Hensen H.A., van de Molengraft M.J.G., and Steinbuch M. Friction induced hunting limit cycles: A comparison between the LuGre and switch friction model. Automatica 39 (2003) 2131-2137
8. Putra D., Nijmeijer H., and van deWouw N. Analysis of undercompensation and overcompensation of friction in 1DOF mechanical systems. Automatica 43 (2007) 1387-1394
9. Basilio Bona, Marina Indri, Friction compensation in robotics: An overview, in: Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, Seville, Spain, 2005
10. Garagic D., and Krishnaswamy S. Adaptive friction compensation for precision machine tool drive. Control Engineering Practice 12 (2004) 1451-1464
11. Panteley E., Ortega R., and Gafvert M. An adaptive friction compensator for global tracking in a robotic manipulator. Systems and Control Letters 33 (1998) 307-313
12. Xie W.-F. Sliding-mode-observer-based adaptive control for servo actuator with friction. IEEE Transactions on Industrial Electronics 54 3 (2007) 1517-1528
13. Makkar C., Sawyer W.G., Hu G., and Dixon W.E. Lyapunov-based tracking control in the presence of uncertain nonlinear parameterizable friction. IEEE Transactions on Automatic Control 52 10 (2007) 1988-1994
14. M. Feemster, P. Vedagrbha, D.M. Dawson, D. Haste, Adaptive control techniques for friction compensation, in: Proc. of the American Control Conference, Philadelphia, Pennsylvania,, 1998, pp. 1488-1492
15. Nordin M., and Gutman P.-O. Controlling mechanical systems with backlash-A survey. Automatica 38 (2002) 1633-1649
16. Barreiro A., and Banos A. Input-output stability of systems with backlash. Automatica 42 (2006) 1017-1024
17. S. Tarbouriech, C. Prieur, Stability analysis for sandwich systems with backlash: An LMI approach, in: Proc. of 5th IFAC Symposium on Robust Control Design, Toulouse, France, 2006
18. Tao G., and Kokotovic P. Adaptive Control of Systems with Sensor and Actuator Nonlinearities (1996), John Wiley & Sons, New York
19. Rostalski P., Besselmann T., Baric M., van Belzen F., and Morari M. Hybrid approach to modeling, control and state estimation of mechanical systems with backlash. International Journal of Control 80 11 (2007) 1729-1740
20. Lagerberg A., and Egardt B. Backlash estimation with application to automotive powertrains. IEEE Transactions on Control Systems Technology 15 3 (2007) 483-493
21. Tao G., Ma X., and Ling Y. Optimal and nonlinear decoupling control of systems with sandwiched backlash. Automatica 37 (2001) 165-176
22. Nariman S., Sassani F., Lawrence P.D., and Ghasempoor A. Simulation and experimental studies of gear backlash and stick-slip friction in hydraulic excavator swing motion. ASME Journal of Dynamic Systems, Measurements and Control 118 (1996) 463-467
23. Menon K., and Krishnamurthy K. Control of low velocity friction and gear backlash in a machine tool feed drive system. Mechatronics 9 (1999) 33-52
24. Suraneni S., Kar I.N., Ramana Murthy O.V., and Bhatt R.K.P. Adaptive stick slip friction and backlash compensation using dynamic fuzzy logic system. Applied Soft Computing 6 (2005) 26-37
25. Márton L., and Lantos B. Modeling, identification and compensation of stick-slip friction. IEEE Trans. on Industrial Electronics 54 1 (2007) 511-521
26. Márton L. On analysis of limit cycles in positioning systems near Striebeck velocities. Mechatronics 48 (2008) 46-52
27. Octavian Beldiman, Linda Bushnell, Stability, linearization and control of switched systems, in: Proc. of the American Control Conference, San Diego, California, 1999, pp. 2950-2954
28. Rantzer A., and Johansson M. Piecewise linear quadratic optimal control. IEEE Transactions on Automatic Control 45 4 (2000) 629-637