High-performance regulator control for mechanical systems subjected to friction

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Several control strategies are compared with respect to their performance for regulator tasks on mechanical systems that exhibit friction. For this purpose a classic PID-controller combined with mass and frictional feedforward is compared to (i) a PID-controller combined with a model-based friction compensation using the dynamic LuGre friction model and (ii) a gain-scheduled optimal PD-controller based on a polytopic linear model (PLM). The latter consists of a feedforward part and an optimal nonlinear feedback part. The controllers are compared to the classic PID-controller by means of experiments on a rotating arm subjected to friction. The performance for three third order point to point setpoints shows that the gain-scheduled optimal PD-controller outperforms the other controllers with respect to settling time and maximal error after setpoint. The tracking performance is comparable for the LuGre-based controller and the classic PID-controller where the tracking performance of the gain-scheduled PD-controller is limited.
Original languageEnglish
Title of host publicationProceedings of the 2001 IEEE international conference on control applications (CCA '01) : September 5-7, 2001, Mexico City, Mexico
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Print)0-7803-6733-2
Publication statusPublished - 2001


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