Control of Servo Systems Based on Differentiable Lugre Friction Model

Wenkun Feng, Sheng Luo, Zhuo Feng, Fan Lin, Liangyu Zhao, Fuxiang Liu*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

This paper investigates the problem of high-precision tracking control of servos with nonlinear friction compensation. Although friction compensation based on the LuGre model has been widely applied in various industrial servo mechanisms, combining it with inverse design is challenging due to the piecewise continuous characteristics of the model. As a result, servo control based on nonlinear models rarely involves friction compensation for non-differentiable friction models such as the LuGre model and the Stribeck effect. This study introduces an enhanced particle swarm approach to adapt the conventional piecewise continuous LuGre model, leading to the development of a novel model, which is both nonlinear and continuously differentiable. Then it introduce an adaptive inverse controller that takes into account factors such as friction parameters and transmission clearance in the established nonlinear servo system. By means of Lyapunov analysis, the controller provides a theoretical assurance of asymptotic tracking performance even in the presence of parameter uncertainties, while also demonstrating robustness against unconsidered dynamics and external disturbances. The simulation results validate the effectiveness of the proposed controller. This research provides a new approach to nonlinear friction compensation and control of servo systems, with potential applications in various industries.

Original languageEnglish
Title of host publicationProceedings - 2023 38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages450-456
Number of pages7
ISBN (Electronic)9798350303636
DOIs
Publication statusPublished - 2023
Event38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023 - Hefei, China
Duration: 27 Aug 202329 Aug 2023

Publication series

NameProceedings - 2023 38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023

Conference

Conference38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023
Country/TerritoryChina
CityHefei
Period27/08/2329/08/23

Keywords

  • LuGre friction
  • Nonlinear factors
  • Particle Swarm Optimization
  • Servo system

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