Identification of a dynamic friction model and its application in a precise tracking control
[ 1 ] Instytut Automatyki i Robotyki, Wydział Informatyki, Politechnika Poznańska | [ D ] phd student | [ P ] employee
2019
scientific article
english
- friction dynamic models
- friction identification
- precise tracking
- the active disturbance rejection paradigm
- control of astronomic mounts
EN The goal of this paper is to examine the friction behaviour in a one-degree mechanical system designed for precise tracking. Friction as one of the main disturbances present in this system strongly influences its performance, which is most visible during the velocity reversals. Identification and compensation of the friction are crucial to achieve high tracking accuracy at very low velocities. In this paper the procedure for identification of static and dynamic frictional parameters of LuGre is presented. The experimental results show characteristic behaviours of friction present both in sliding and in presliding regime. Furthermore, it is experimentally proven in several control scenarios that dynamic friction model compensation causes significant decrease of trajectory tracking error.
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publisher's website
final published version
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