Lyapunov-Based Tracking Control in the Presence of Uncertain Nonlinear Parameterizable Friction

Makkar, C.; Hu, Guoqiang; Sawyer, W. Gregory; Dixon, Warren E.

doi:10.1109/tac.2007.904254

Cited by 235 publications

(124 citation statements)

References 34 publications

Supporting

Mentioning

123

Contrasting

Order By: Relevance

“…l is the length of the rope; g the gravitational acceleration. The overall force F is composed of the actuating force F a and the friction F r as Motivated by the friction models in [27,28], this paper employs the same nonlinear friction model as…”

Section: Description Of the Overhead Crane Systemmentioning

confidence: 99%

Optimal motion planning for overhead cranes

Xia

2014

IET Control Theory & Applications

147

View full text Add to dashboard Cite

Overhead cranes are widely used in industrial applications for material displacing. Many linear or nonlinear control schemes have been proposed for overhead cranes and implemented on electronic systems, but energy efficiency of transportation has seldom been considered in motion planning. This paper aims at finding an optimal solution of motion planning in terms of energy efficiency for overhead cranes. Using the optimal control method an optimal trajectory is obtained with less energy consumption than the compared trajectories and is also satisfying physical and practical constraints such as swing, acceleration, and jerk. Besides the energy optimal model, we also propose two other models to optimize time efficiency and safety during transportation. The results obtained have been compared with some existing motion trajectories, and have been shown to be superior to these benchmarks in terms of energy efficiency, time efficiency and safety respectively.

show abstract

Section: Description Of the Overhead Crane Systemmentioning

confidence: 99%

Optimal motion planning for overhead cranes

Xia

2014

IET Control Theory & Applications

147

View full text Add to dashboard Cite

show abstract

“…Thus, the tracking error cannot be used as feedback to adjust the feedforward controller to track the friction force. This problem prevents the use of non-model-based controllers [3], [4] and observer-based methods [6] to compensate friction in a teleoperator. In observer-based methods [6], the feedforward friction models have internal friction states and these states will not be observable in the presence of unknown environment forces.…”

Section: Friction Effect On Position Trackingmentioning

confidence: 99%

“…We show that the unknown environment force prevents the use of tracking position error as a feedback to the friction compensator. We illustrate how non-model-based controllers [2], [3], [4] and observer-based compensators [5], [6], [7] used to reduce tracking errors of position tracking systems are not applicable to friction compensation for a teleoperator. Then, we use model-based compensators to cancel friction forces of the teleoperator.…”

Section: Introductionmentioning

confidence: 99%

Friction Compensation for Enhancing Transparency of a Teleoperator With Compliant Transmission

Mahvash

Okamura

2007

IEEE Trans. Robot.

View full text Add to dashboard Cite

This article presents a model-based compensator for canceling friction in the tendon-driven joints of a haptic-feedback teleoperator. Unlike position-tracking systems, a teleoperator involves an unknown environment force that prevents the use of tracking position error as a feedback to the compensator. Thus, we use a model-based feedforward friction compensator to cancel the friction forces. We provide conditions for selecting compensator parameters to ensure passivity of the teleoperator and demonstrate performance experimentally.

show abstract

“…The modeling of the friction for prediction and control of such a system is extremely important as well as difficult (Makkar et al, 2007;Li et al, 2008a). The difficulty lies in the possibility that the motion direction on the two contact surfaces may change the frictional effect (Zhang et al, 2011).…”

Section: Introductionmentioning

confidence: 99%

Experimental comparison of five friction models on the same test-bed of the micro stick-slip motion system

et al. 2015

View full text Add to dashboard Cite

Abstract. The micro stick-slip motion systems, such as piezoelectric stick-slip actuators (PE-SSAs), can provide high resolution motions yet with a long motion range. In these systems, friction force plays an active role. Although numerous friction models have been developed for the control of micro motion systems, behaviors of these models in micro stick-slip motion systems are not well understood. This study (1) gives a survey of the basic friction models and (2) tests and compares 5 friction models in the literature, including Coulomb friction model, Stribeck friction model, Dahl model, LuGre model, and the elastoplastic friction model on the same testbed (i.e. the PE-SSA system). The experiments and simulations were done and the reasons for the difference in the performance of these models were investigated. The study concluded that for the micro stick-slip motion system, (1) Stribeck model, Dahl model and LuGre model all work, but LuGre model has the best accuracy and (2) Coulomb friction model and the elastoplastic model does not work. The study provides contributions to motion control systems with friction, especially for micro stick-slip or step motion systems as well as general micro-motion systems.

show abstract

Lyapunov-Based Tracking Control in the Presence of Uncertain Nonlinear Parameterizable Friction

Cited by 235 publications

References 34 publications

Optimal motion planning for overhead cranes

Optimal motion planning for overhead cranes

Friction Compensation for Enhancing Transparency of a Teleoperator With Compliant Transmission

Experimental comparison of five friction models on the same test-bed of the micro stick-slip motion system

Contact Info

Product

Resources

About