Fuzzy Global Sliding Mode Control for a Servo System with Lugre Friction Model

2006 ◽  
Author(s):  
Jinkun Liu ◽  
Fuchun Sun
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Servo System ◽  
Friction Model ◽  
Mode Control ◽  
Lugre Friction Model ◽  
Global Sliding Mode Control ◽  
Lugre Friction

LuGre Friction Model Estimation of a Precision Table and Sliding Mode Control Design

2009 ◽  
Vol 147-149 ◽  
pp. 264-271
Author(s):  
Shiuh Jer Huang ◽  
Chun Ming Chiu ◽  
M.C. Huang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Design ◽  
Friction Model ◽  
System Stability ◽  
Adaptive Sliding Mode Control ◽  
Model Based ◽  
Mode Control ◽  
Lugre Friction Model ◽  
Lugre Friction

Piezoelectric friction actuating mechanism is chosen to construct long traveling range sub-micro X-Y positioning table. LuGre friction model is employed to simulate the friction dynamics of this positioning mechanism. The optimization scheme of Matlab toolbox is adopted to search the optimal friction model parameters. However, this piezoelectric actuating system has obvious nonlinear and time-varying dead-zone offset control voltage due to the static friction and preload. The estimated LuGre dynamic model is still not accurate enough for model-based precision control design. Hence, the adaptive sliding mode control (SMC) with robust behavior is employed to design the nonlinear controller for this piezoelectric friction actuating mechanism. The Laypunov-like design strategy is adopted to achieve the system stability criterion. The dynamic experimental results of the proposed nonlinear controllers are compared with that of a model-based PID controller, too.

Adaptive Nonlinear Sliding Mode Control of Mechanical Servo System With LuGre Friction Compensation

2015 ◽  
Vol 138 (2) ◽  
Author(s):  
Qiang Chen ◽  
Liang Tao ◽  
Yurong Nan ◽  
Xuemei Ren
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Process ◽  
Servo System ◽  
Parameter Estimate ◽  
Tracking Accuracy ◽  
Mode Control ◽  
Identification Technique ◽  
Lugre Friction ◽  
Nonlinear Sliding Mode Control

In this paper, the parameter identification and control problem are investigated for a mechanical servo system with LuGre friction. First of all, an intelligent glowworm swarm optimization (GSO) algorithm is developed to identify the friction parameters. Then, by using a finite-time parameter estimate law and nonlinear sliding mode technique, an adaptive nonlinear sliding mode control (NSMC) based on GSO is designed to speed up the parameter convergence and to decrease the overshoot and steady-state time in control process. Finally, comparative simulations are given to show that the proposed parameters identification technique and adaptive NSMC law are both effective with respect to fast convergence speed and high tracking accuracy.

Azimuth Axis Servo System Integrated Control Based on Sliding-Mode Control

2011 ◽  
Vol 219-220 ◽  
pp. 556-559
Author(s):  
Shu Fang Wang ◽  
Jian Cheng Zhang ◽  
Hong Hong Guo
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Sliding Mode ◽  
Rbf Neural Network ◽  
Integrated Control ◽  
Servo System ◽  
Friction Model ◽  
Mode Control ◽  
Real Model ◽  
Simulation And Experiment

On the basis of LuGer friction model, an integrated sliding-mode control strategy is proposed to deal with servo system nonlinear and uncertain factors effectively. The control strategy includes two parts. One is nominal model without considering disturb and uncertain, the other is real model including disturb and uncertain. To one part, choose reasonable sliding surface and design controller law. To another part, PTSC algorithm and NNC algorithm combines together to optimize RBF neural network in order to acquire upper bound of uncertain. Simulation and experiment results show that proposed control strategy better servo system performance.

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