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Optimal control design for robust fuzzy friction compensation in a robot joint / Mostefai, Lotfi in IEEE transactions on industrial electronics, Vol. 56 N° 10 (Octobre 2009) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3832 - 3839 Titre : Optimal control design for robust fuzzy friction compensation in a robot joint Type de document : texte imprimé Auteurs : Mostefai, Lotfi, Auteur ; Denaï, Mouloud, Auteur ; Sehoon, Oh, Auteur Article en page(s) : pp. 3832 - 3839 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Friction  compensation  Fuzzy  modeling  Fuzzy  observers  Linear  matrix  inequality  (LMI)  Optimal  H∞  control Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : This paper presents a methodology for the compensation of nonlinear friction in a robot joint structure based on a fuzzy local modeling technique. To enhance the tracking performance of the robot joint, a dynamic model is derived from the local physical properties of friction. The model is the basis of a precompensator taking into account the dynamics of the overall corrected system by means of a minor loop. The proposed structure does not claim to faithfully reproduce complex phenomena driven by friction. However, the linearity of the local models simplifies the design and implementation of the observer, and its estimation capabilities are improved by the nonlinear integral gain. The controller can then be robustly synthesized using linear matrix inequalities to cancel the effects of inexact friction compensation. Experimental tests conducted on a robot joint with a high level of friction demonstrate the effectiveness of the proposed fuzzy observer-based control strategy for tracking system trajectories when operating in zero-velocity regions and during motion reversals. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5067326 [article] Optimal control design for robust fuzzy friction compensation in a robot joint [texte imprimé] / Mostefai, Lotfi, Auteur ; Denaï, Mouloud, Auteur ; Sehoon, Oh, Auteur . - pp. 3832 - 3839. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3832 - 3839 Mots-clés : Friction  compensation  Fuzzy  modeling  Fuzzy  observers  Linear  matrix  inequality  (LMI)  Optimal  H∞  control Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : This paper presents a methodology for the compensation of nonlinear friction in a robot joint structure based on a fuzzy local modeling technique. To enhance the tracking performance of the robot joint, a dynamic model is derived from the local physical properties of friction. The model is the basis of a precompensator taking into account the dynamics of the overall corrected system by means of a minor loop. The proposed structure does not claim to faithfully reproduce complex phenomena driven by friction. However, the linearity of the local models simplifies the design and implementation of the observer, and its estimation capabilities are improved by the nonlinear integral gain. The controller can then be robustly synthesized using linear matrix inequalities to cancel the effects of inexact friction compensation. Experimental tests conducted on a robot joint with a high level of friction demonstrate the effectiveness of the proposed fuzzy observer-based control strategy for tracking system trajectories when operating in zero-velocity regions and during motion reversals. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5067326