Abstract
In this paper, a hybrid adaptive compensation control scheme is proposed to compensate the friction occurrence and other nonlinear disturbance factors that exist in the high-precision servo system. An adaptive compensation controller with a dual-observer structure is designed, while the LuGre dynamic friction model with non-uniform parametric uncertainties characterizes the friction torque. Considering the influence of the periodic disturbance torque and parametric uncertainties, fuzzy systems and a robust term are employed. In this way, the whole system can be treated as a simple linear model after being compensated, then the proportional-derivative (PD) control law is applied to enhancing the control performance. On the basis of Lyapunov stability theory, the global stability and the asymptotic convergence of the tracking error are proved. Numerical simulations demonstrate that the proposed scheme has potentials to restrain the impact of disturbance and improving the tracking performance.
Similar content being viewed by others
References
Brian Armstrong-Helouvry, Pierre Dupont et al. A survey of models, analysis tools and compensation methods for the control of machines with friction[J]. Automatica, 1994, 30(7): 1083–1138.
Papadopoulos E G, Chasparis G C. Analysis and model based control of servomechanisms with friction[C]. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. Lausanne, Switzerland, 2002.
Han S I, Lee K S. Sliding mode-based friction control with adaptive dual friction observer and intelligent uncertainty compensator[J]. Journal of Systems and Control Engineering, 2009, 223(8): 1129–1147.
Duan Haibin, Liu Senqi, Wang Daobo et al. Design and realization of hybrid ACO-based PID and LuGre friction compensation controller for three degree-of-freedom high precision flight simulator[J]. Simulation Modeling Practice and Theory, 2009, 17(6): 1160–1169.
Canudas de Wit C, Lischinsky P. Adaptive friction compensation with partially known dynamic friction model[J]. International Journal of Adaptive Control and Signal Processing, 1997, 11(1): 65–80.
Feemster M, Vedagarbha P, Dawson D M et al. Adaptive control techniques for friction compensation[C]. In: Proceedings of the American Control Conference. Philadelphia, USA, 1998.
Qing W J. Disturbance rejection through disturbance observer with adaptive frequency estimation [J]. IEEE Transactions on Magnetics, 2009, 45(6): 2675–2678
Wu Yunjie, Liu Xiaodong, Tian Dapeng. Research of compound controller for flight simulator with disturbance observer[ J]. Chinese Journal of Aeronautics, 2011, 24(5): 613–621.
Morel G, Iagnemma K, Dubowsky S. The precise control of manipulators with high joint-friction using base force/torque sensing[J]. Automatica, 2000, 36(7): 931–941.
Chen W H, Ballance D J, Gawthrop P J et al. A nonlinear disturbance observer for robotic manipulators[J]. IEEE Transactions on Industrial Electronics, 2000, 47(4): 932–938.
Du C, Li H, Thum C K et al. Simple disturbance observer for disturbance compensation [J]. IET Control Theory & Applications, 2010, 4(9): 1748–1755.
Liu Qiang, Er Lianjie, Liu Jinkun. Overview of characteristics, modeling and compensation of nonlinear friction in servo systems[J]. Systems Engineering and Electronics, 2002, 24(11): 45–52 (in Chinese).
Zhao Bo, Hu Hongjie. A new inverse controller for servosystem based on neural network model reference adaptive control[J]. The International Journal for Computation and Mathematics in Electrical and Electronic Engineering, 2009, 28(6): 1503–1515.
Hu Hongjie, Yue Jinyu, Zhan Ping. A control scheme based on RBF neural network for high-precision servo system[C]. In: Proceedings of the 2010 IEEE International Conference on Mechanics and Automation. Xi’an, China, 2010.
Hicham Chaoui, Pierre Sicard. Adaptive fuzzy logic control of permanent magnet synchronous machines with nonlinear friction[J]. IEEE Transactions on Industrial Electronics, 2012, 59(2): 1123–1133.
Wang Y F, Wang D H, Chai T Y. Modeling and control compensation of nonlinear friction using adaptive fuzzy systems[J]. Mechanical Systems and Signal Processing, 2009, 23(8): 2445–2457.
Cao Runzi, Low Kay-Soon. A repetitive model predictive control approach for precision tracking of a linear motion system[J]. IEEE Transactions on Industrial Electronics, 2009, 56(6): 1955–1962.
Huang Yicheng, Lin Mousheng. Tracking control of a piezo-actuated stage based on a frictional model[J]. Asian Journal of Control, 2009, 11(3): 287–294.
Canudas de Wit C, Olsson H, Astrom K J et al. A new model for control of systems with friction[J]. IEEE Transactions on Automatic Control, 1995, 40(3): 419–425.
Tan Yaolong, Kanellakopoulos Ioannis. Adaptive nonlinear friction compensation with parametric uncertainties[C]. In: Proceedings of the American Control Conference. San Diego, USA, 1999.
Ke Jing, Su Baoku, Zeng Ming. Robust adaptive friction compensation for DC motors with parametric uncertainties[ J]. Proceedings of the CSEE, 2003, 23(7): 117–122.
Liu Jinkun. Advanced PID Control and Matlab Simulation[ M]. Publishing House of Electronics Industry, Bejing, China, 2003 (in Chinese).
Slotine J E, Li W P. Applied Nonlinear Control[M]. Prentice-Hall, New Jersey, USA, 1991.
Author information
Authors and Affiliations
Corresponding author
Additional information
Supported by Aeronautical Science Foundation of China (No.20080651016).
Hu Hongjie, born in 1962, male, Dr, associate Prof.
Rights and permissions
About this article
Cite this article
Hu, H., Wang, Y. & Sun, G. Hybrid adaptive compensation control scheme for high-precision servo system. Trans. Tianjin Univ. 19, 217–224 (2013). https://doi.org/10.1007/s12209-013-1929-4
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12209-013-1929-4