南京理工大学学报（自然科学版）Issue(6)：779-784,6.
基于LuGre摩擦模型的伺服系统自适应鲁棒控制器
Adaptive robust controller for servo system based on LuGre model of friction
摘要
Abstract
A control system model based on LuGre friction model is given for a servo system with friction nonlinearity,parameter uncertainty and disturbance. An adaptive robust controller(ARC)is developed based on the model. The proposed controller consists three parts:adaptive compensation based on parameter estimation online,stable feedback,robust control analyzed in detail. It is proved that the signals of this closed-loop controller are bounded and the tracking error is within the desired precision by Lyapunov stability theory. Simulation results illustrate the effectiveness of the ARC.关键词
LuGre摩擦模型/伺服系统/自适应控制/鲁棒控制Key words
LuGre friction model/servo system/adaptive control/robust control分类
信息技术与安全科学引用本文复制引用
郭健,季晶晶,杨帆,姚斌..基于LuGre摩擦模型的伺服系统自适应鲁棒控制器[J].南京理工大学学报（自然科学版）,2013,(6):779-784,6.基金项目
国家自然科学基金(61074023) （61074023）
江苏省科技支撑计划(BE2012175) （BE2012175）
江苏省“333工程”科研项目资助计划(BRA2012163) （BRA2012163）
浙江大学流体动力与机电系统国家重点实验室开放基金(GZKF-201203) （GZKF-201203）
