The DOI matches its Crossref record; 5 of the 5 references it cites were found in a registry or an index.
Lyapunov-Based Tracking Control in the Presence of Uncertain Nonlinear Parameterizable Friction
Abstract
Modeling and compensation for friction effects has been a topic of considerable mainstream interest in motion control research. This interest is spawned from the fact that modeling nonlinear friction effects is a theoretically challenging problem, and compensating for the effects of friction in a controller has practical ramifications. If the friction effects in the system can be accurately modeled, there is an improved potential to design controllers that can cancel the effects; whereas, excessive steady-state tracking errors, oscillations, and limit cycles can result from controllers that do not accurately compensate for friction. A tracking controller is developed in this paper for a general Euler-Lagrange system that contains a new continuously differentiable friction model with uncertain nonlinear parameterizable terms. To achieve the semi-global asymptotic tracking result, a recently developed integral feedback compensation strategy is used to identify the friction effects online, assuming exact model knowledge of the remaining dynamics. A Lyapunov-based stability analysis is provided to conclude the tracking and friction identification results. Experimental results illustrate the tracking and friction identification performance of the developed controller.
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Cites
A new model for control of systems with friction
Canudas de Wit, C., Olsson, H., Astrom, K. J., & Lischinsky, P. (1995) · IEEE Transactions on Automatic Control · doi:10.1109/9.376053 · Cited by 3,685
Armstrong-Hélouvry, B., Dupont, P., & De Wit, C. C. (1994) · Automatica · doi:10.1016/0005-1098(94)90209-7 · Cited by 2,678
A Continuous Asymptotic Tracking Control Strategy for Uncertain Nonlinear Systems
Xian, B., Dawson, D. M., deQueiroz, M. S., & Chen, J. (2004) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2004.831148 · Cited by 651
Robust Control for Nonlinear Uncertain Systems
(2011) · Princeton University Press eBooks · doi:10.2307/j.ctvcm4hws.15 · Cited by 403
A new continuously differentiable friction model for control systems design
Makkar, C., Dixon, W. E., Sawyer, W. G., & Hu, G. (2006) · Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. · doi:10.1109/aim.2005.1511048 · Cited by 241
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Cited by
Robust consensus tracking of a class of second-order multi-agent dynamic systems
Hu, G. (2012) · Systems & Control Letters · doi:10.1016/j.sysconle.2011.10.004 · Cited by 339
Self-citationRISE-Based Asymptotic Prescribed Performance Tracking Control of Nonlinear Servo Mechanisms
Wang, S., Na, J., & Ren, X. (2018) · IEEE Transactions on Systems, Man, and Cybernetics: Systems · doi:10.1109/tsmc.2017.2769683 · Cited by 159
Metadata
- Authors
- Makkar, C., Hu, G., Sawyer, W. G., & Dixon, W. E.
- Venue
- IEEE Transactions on Automatic Control
- Published
- 2007-10
- Volume
- 52
- Issue
- 10
- Pages
- 1988-1994
- ISSN
- 0018-9286 (ISSN-L)
- OpenAlex
- W1988469697
- Cited by
- 269
- References
- 5
- FWCI
- 23.30
- Type
- journal article
- Language
- en
- Open access
- closed
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- Makkar, C., Hu, G., Sawyer, W. G., & Dixon, W. E. (2007). Lyapunov-Based Tracking Control in the Presence of Uncertain Nonlinear Parameterizable Friction. IEEE Transactions on Automatic Control. https://doi.org/10.1109/tac.2007.904254
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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