LuGre dynamic friction model has been widely used in servo system for friction compensation, but it increases the difficulty of controller design because its parameters are difficult to be identified and its internal state is immeasurable. This paper presents a parameter identification technique based on novel evolutionary algorithm (NEA) for LuGre friction model. In order to settle the practical digital implementation problem of LuGre model, this paper also proposes a modified dual-observer with discontinuous mapping and smooth transfer function. On the basis of the parameter identification results and the modified dual-observer, this paper designs an adaptive control algorithm with dynamic friction compensation for hydraulic servo system. The comparative experiments indicate that the proposed parameter identification technique and the adaptive control algorithm with modified dual-observer are effective with high tracking performance.
Skip Nav Destination
e-mail: wangxj@live.com
e-mail: shaopingwang@vip.sina.com
Article navigation
January 2012
Research Papers
High Performance Adaptive Control of Mechanical Servo System With LuGre Friction Model: Identification and Compensation
Xingjian Wang,
Xingjian Wang
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China; Science and Technology on Aircraft Control Laboratory,
e-mail: wangxj@live.com
Beihang University
, Beijing 100191, China
Search for other works by this author on:
Shaoping Wang
Shaoping Wang
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China; Science and Technology on Aircraft Control Laboratory,
e-mail: shaopingwang@vip.sina.com
Beihang University
, Beijing 100191, China
Search for other works by this author on:
Xingjian Wang
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China; Science and Technology on Aircraft Control Laboratory,
Beihang University
, Beijing 100191, China
e-mail: wangxj@live.com
Shaoping Wang
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China; Science and Technology on Aircraft Control Laboratory,
Beihang University
, Beijing 100191, China
e-mail: shaopingwang@vip.sina.com
J. Dyn. Sys., Meas., Control. Jan 2012, 134(1): 011021 (8 pages)
Published Online: December 6, 2011
Article history
Received:
October 3, 2010
Revised:
June 15, 2011
Online:
December 6, 2011
Published:
December 6, 2011
Citation
Wang, X., and Wang, S. (December 6, 2011). "High Performance Adaptive Control of Mechanical Servo System With LuGre Friction Model: Identification and Compensation." ASME. J. Dyn. Sys., Meas., Control. January 2012; 134(1): 011021. https://doi.org/10.1115/1.4004785
Download citation file:
Get Email Alerts
Vibration Suppression Based on Improved Adaptive Optimal Arbitrary-Time-Delay Input Shaping
J. Dyn. Sys., Meas., Control (May 2025)
Robust Fault Detection for Unmanned Aerial Vehicles Subject to Denial-of-Service Attacks
J. Dyn. Sys., Meas., Control
Vibration Suppression and Trajectory Tracking with Nonlinear Model Predictive Control for UAM Aircraft
J. Dyn. Sys., Meas., Control
Learning battery model parameter dynamics from data with recursive Gaussian process regression
J. Dyn. Sys., Meas., Control
Related Articles
Adaptive Position Control of an Electrohydraulic Servo System With Load Disturbance Rejection and Friction Compensation
J. Dyn. Sys., Meas., Control (November,2011)
Adaptive Control With Asymptotic Tracking Performance and Its Application to an Electro-Hydraulic Servo System
J. Dyn. Sys., Meas., Control (March,2000)
Dynamic Image-Based Visual Servo Control Using Centroid and Optic Flow Features
J. Dyn. Sys., Meas., Control (January,2008)
Design of Robust High-Speed Motion Controller for a Plant With Actuator Saturation
J. Dyn. Sys., Meas., Control (September,2000)
Related Proceedings Papers
Related Chapters
A Semi-Adaptive Fractional Order PID Control Strategy for a Certain Gun Control Equipment
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
Research on Autobody Panels Developmental Technology Based on Reverse Engineering
International Conference on Advanced Computer Theory and Engineering, 5th (ICACTE 2012)