Decomposition-based friction compensation using a parameter linearization approach
Decomposition-based friction compensation using a parameter linearization approach
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使用参数线性化方法进行基于分解的摩擦补偿
DOI：
10.1109/robot.2001.932767
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
G. Liu
中科院分区：
文献类型：
--
作者：
G. Liu
本文通过对参数中的非线性经验摩擦模型进行线性化，建立了线性参数摩擦模型。应用提出的基于分解的控制设计框架来综合摩擦补偿方案。利用最合适的控制技术为每种类型的摩擦设计单独的补偿器。标称摩擦由前馈补偿。导出了自适应补偿器来补偿具有未知但恒定参数的参数化未建模摩擦，并且使用鲁棒补偿器来处理摩擦模型参数变化以及非参数化未建模摩擦。补偿器的组合产生整体补偿方案。自适应补偿器和鲁棒补偿器在补偿模型不确定性的影响方面相辅相成。分析和模拟研究证实了所提出的摩擦补偿方法的有效性。
In this paper, a linear parametric friction model is formulated by linearizing a nonlinear empirical friction model in parameters. A proposed decomposition-based control design framework is applied to synthesize the friction compensation scheme. A separate compensator is designed for each type of friction utilizing the most suitable control technique. The nominal friction is compensated by feedforward. An adaptive compensator is derived to compensate for parametric unmodelled friction with unknown but constant parameters, and a robust compensator is used to deal with friction model parameter variations, as well as non-parametric unmodelled friction. The combination of the compensators yields the overall compensation scheme. Adaptive and robust compensators complement each other in compensating the effects of model uncertainties. The analytical and simulation studies confirmed the efficiency of the proposed friction compensation method.