High-performance regulator control for mechanical systems subjected to friction

R.H.A. Hensen; M.J.G. Molengraft, van de; M. Steinbuch

doi:10.1109/CCA.2001.973864

High-performance regulator control for mechanical systems subjected to friction

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

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 language	English
Title of host publication	Proceedings of the 2001 IEEE international conference on control applications (CCA '01) : September 5-7, 2001, Mexico City, Mexico
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	200-205
ISBN (Print)	0-7803-6733-2
DOIs	https://doi.org/10.1109/CCA.2001.973864
Publication status	Published - 2001

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10.1109/CCA.2001.973864

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Hensen, R. H. A., Molengraft, van de, M. J. G., & Steinbuch, M. (2001). High-performance regulator control for mechanical systems subjected to friction. In Proceedings of the 2001 IEEE international conference on control applications (CCA '01) : September 5-7, 2001, Mexico City, Mexico (pp. 200-205). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/CCA.2001.973864

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title = "High-performance regulator control for mechanical systems subjected to friction",

abstract = "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.",

author = "R.H.A. Hensen and \{Molengraft, van de\}, M.J.G. and M. Steinbuch",

year = "2001",

doi = "10.1109/CCA.2001.973864",

language = "English",

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publisher = "Institute of Electrical and Electronics Engineers",

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Hensen, RHA, Molengraft, van de, MJG & Steinbuch, M 2001, High-performance regulator control for mechanical systems subjected to friction. in Proceedings of the 2001 IEEE international conference on control applications (CCA '01) : September 5-7, 2001, Mexico City, Mexico. Institute of Electrical and Electronics Engineers, Piscataway, pp. 200-205. https://doi.org/10.1109/CCA.2001.973864

High-performance regulator control for mechanical systems subjected to friction. / Hensen, R.H.A.; Molengraft, van de, M.J.G.; Steinbuch, M.
Proceedings of the 2001 IEEE international conference on control applications (CCA '01) : September 5-7, 2001, Mexico City, Mexico. Piscataway: Institute of Electrical and Electronics Engineers, 2001. p. 200-205.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AB - 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.

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Hensen RHA, Molengraft, van de MJG , Steinbuch M. High-performance regulator control for mechanical systems subjected to friction. In Proceedings of the 2001 IEEE international conference on control applications (CCA '01) : September 5-7, 2001, Mexico City, Mexico. Piscataway: Institute of Electrical and Electronics Engineers. 2001. p. 200-205 doi: 10.1109/CCA.2001.973864

High-performance regulator control for mechanical systems subjected to friction

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