High performance adaptive control of mechanical servo system with LuGre friction model / Xingjian Wang in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 1 (Janvier 2012)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 1 (Janvier 2012) . - 08 p. Titre : High performance adaptive control of mechanical servo system with LuGre friction model : identification and compensation Type de document : texte imprimé Auteurs : Xingjian Wang, Auteur ; Shaoping Wang, Auteur Année de publication : 2012 Article en page(s) : 08 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Adaptive control Compensation Control system synthesis Evolutionary computation Friction Hydraulic equipment Parameter estimation Servomechanisms Transfer functions Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais Résumé : 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. DEWEY : 553 ISSN : 0022-0434 En ligne : http://www.asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013400 [...] [article] High performance adaptive control of mechanical servo system with LuGre friction model : identification and compensation [texte imprimé] / Xingjian Wang, Auteur ; Shaoping Wang, Auteur . - 2012 . - 08 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 1 (Janvier 2012) . - 08 p. Mots-clés : Adaptive control Compensation Control system synthesis Evolutionary computation Friction Hydraulic equipment Parameter estimation Servomechanisms Transfer functions Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais Résumé : 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. DEWEY : 553 ISSN : 0022-0434 En ligne : http://www.asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013400 [...]

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