Tensor product model transformation based friction compensation of a mechatronic system

Authors:
Béla Takarics;Péter Korondi;Péter Baranyi
Affiliations:
Dept. of Mechatronics, Optics and Engineering Informatics, Budapest University of Technology and Economics, Budapest, Hungary;Computer and Automation Research Institute, Budapest, Hungary;Computer and Automation Research Institute, Budapest, Hungary
Venue:
INES'10 Proceedings of the 14th international conference on Intelligent engineering systems
Year:
2010

Citing 2
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A survey of models, analysis tools and compensation methods for the control of machines with friction

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Abstract

The Tensor Product (TP) model transformation is a recently proposed technique for transforming given Linear Parameter-Varying (LPV) state-space models into poly topic model form, namely, to parameter-varying convex combination of Linear Time Invariant (LTI) systems. The main advantage of the TP model transformation is that it is executable in a straightforward way and the Linear Matrix Inequality (LMI) based control design frameworks can immediately be applied to the resulting poly topic models to yield controllers with tractable and guaranteed performance. The main contribution of this paper is that it represents the friction of a DC servo drive in TP model form, automatically designs LMI based controller for friction compensation. The reference signal compensation is also based on the TP model transformation. The results were simulated for speed control of the DC servo drive and were compared to other control techniques.