A Design of Adaptive Controller for Transportation System with Dynamic Friction

• 발행기관: 한국항해항만학회
• 저자명: Jin Woo Lee Jeon Hyun Seo Seung Hoon Han Kwon Soon Lee
• 간행물 정보: 『한국항해항만학회 학술대회논문집』2006년도 International Symposium on GPS/GNSS Vol.1, 1~6쪽, 전체 6쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 2006.10.24

영문 초록

In this paper, we propose an adaptive control algorithm to improve the position accuracy and reduce the nonlinear friction effects for linear motion servo system. Especially, the considered system includes not only the variation of the mass of the mover but also the friction change by the normal force. To adapt to these problems, we designed the controller with the mass estimator and the compensator by observing the variation of normal force. Finally, the numerical simulation results are presented in order to show the effectiveness of the proposed method to improve the position accuracy compared to other control methods.

목차

1. Introduction

2. Mathematical Modeling

3. Design of Control System

4. Simulation Results

5. Conclusion

키워드

LuGre friction model dynamic friction adaptive controller mass estimator normal force Stribeck effect position tracking control Lyapunov function candidates