A Practical Two-Step Friction Determination for Motion Control Using LuGre Model
Summary :
In order to improve the motion control performance, a new friction determination method, using the LuGre model, is proposed. The model parameters are determined by performing two-step closed-loop experiments using a proportional-integral observer (PIO). The PIO is also used to develop a robust motion controller to deal with additional uncertainties including the effect of the inaccurate estimation of the friction. The experimental results reveal improved performance compared to that of a single-PIO-based controller.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E98-A No.3 pp.890-893
- Publication Date
- 2015/03/01
- Publicized
- Online ISSN
- 1745-1337
- DOI
- 10.1587/transfun.E98.A.890
- Type of Manuscript
- LETTER
- Category
- Systems and Control
Authors
In Hyuk KIM
Myongji University
Young Ik SON
Myongji University
Keyword
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In Hyuk KIM, Young Ik SON, "A Practical Two-Step Friction Determination for Motion Control Using LuGre Model" in IEICE TRANSACTIONS on Fundamentals,
vol. E98-A, no. 3, pp. 890-893, March 2015, doi: 10.1587/transfun.E98.A.890.
Abstract: In order to improve the motion control performance, a new friction determination method, using the LuGre model, is proposed. The model parameters are determined by performing two-step closed-loop experiments using a proportional-integral observer (PIO). The PIO is also used to develop a robust motion controller to deal with additional uncertainties including the effect of the inaccurate estimation of the friction. The experimental results reveal improved performance compared to that of a single-PIO-based controller.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.E98.A.890/_p
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@ARTICLE{e98-a_3_890,
author={In Hyuk KIM, Young Ik SON, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={A Practical Two-Step Friction Determination for Motion Control Using LuGre Model},
year={2015},
volume={E98-A},
number={3},
pages={890-893},
abstract={In order to improve the motion control performance, a new friction determination method, using the LuGre model, is proposed. The model parameters are determined by performing two-step closed-loop experiments using a proportional-integral observer (PIO). The PIO is also used to develop a robust motion controller to deal with additional uncertainties including the effect of the inaccurate estimation of the friction. The experimental results reveal improved performance compared to that of a single-PIO-based controller.},
keywords={},
doi={10.1587/transfun.E98.A.890},
ISSN={1745-1337},
month={March},}
Copy
TY - JOUR
TI - A Practical Two-Step Friction Determination for Motion Control Using LuGre Model
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 890
EP - 893
AU - In Hyuk KIM
AU - Young Ik SON
PY - 2015
DO - 10.1587/transfun.E98.A.890
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E98-A
IS - 3
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - March 2015
AB - In order to improve the motion control performance, a new friction determination method, using the LuGre model, is proposed. The model parameters are determined by performing two-step closed-loop experiments using a proportional-integral observer (PIO). The PIO is also used to develop a robust motion controller to deal with additional uncertainties including the effect of the inaccurate estimation of the friction. The experimental results reveal improved performance compared to that of a single-PIO-based controller.
ER -
English
