A disturbance observer based nonlinear controller for friction compensation in a servomechanism

Authors:
Mostefai Lotfi;Mouloud Azzedine Denai
Affiliations:
Faculty of Electrical Engineering, University of Science and Technology of Oran, Oran, Algeria;Faculty of Electrical Engineering, University of Science and Technology of Oran, Oran, Algeria
Venue:
NOLASC'05 Proceedings of the 4th WSEAS International Conference on Non-linear Analysis, Non-linear Systems and Chaos
Year:
2005

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A survey of models, analysis tools and compensation methods for the control of machines with friction

Automatica (Journal of IFAC)

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Abstract

In this paper, a disturbance observer based controller is proposed for the compensation of nonlinear friction in a servodrive system. The designed nonlinear controller uses the estimated system states (position, velocity) and disturbance to enhance tracking performance of the servodrive using high stiff gains for the compensation of the effects of nonlinear friction. The effectiveness of this disturbance observer is demonstrated under simulations.