{"title":"存在lugrei型摩擦的自适应鲁棒运动控制","authors":"M. Jastrzębski, J. Kabzinski, Przemysław Mosiołek","doi":"10.1109/MMAR.2017.8046808","DOIUrl":null,"url":null,"abstract":"The proposed approach to the adaptive motion control in the presence of LuGre-type friction consists in the compensation of all components containing the internal model variable by a robust control term, based on a special “bounding function”. To minimize the chattering effect, this function is approximated by a linear-in-parameters model. The model is tuned on-line by the adaptive control, together with the remaining unknown parameters.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Adaptive and robust motion control in presence of LuGre-type friction\",\"authors\":\"M. Jastrzębski, J. Kabzinski, Przemysław Mosiołek\",\"doi\":\"10.1109/MMAR.2017.8046808\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The proposed approach to the adaptive motion control in the presence of LuGre-type friction consists in the compensation of all components containing the internal model variable by a robust control term, based on a special “bounding function”. To minimize the chattering effect, this function is approximated by a linear-in-parameters model. The model is tuned on-line by the adaptive control, together with the remaining unknown parameters.\",\"PeriodicalId\":189753,\"journal\":{\"name\":\"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)\",\"volume\":\"69 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MMAR.2017.8046808\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MMAR.2017.8046808","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Adaptive and robust motion control in presence of LuGre-type friction
The proposed approach to the adaptive motion control in the presence of LuGre-type friction consists in the compensation of all components containing the internal model variable by a robust control term, based on a special “bounding function”. To minimize the chattering effect, this function is approximated by a linear-in-parameters model. The model is tuned on-line by the adaptive control, together with the remaining unknown parameters.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
