The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Friction Compensation of the Pendubot based on the LuGre Model

LuGre 모델에 기반한 펜듀봇의 마찰력 보상

  • Received : 2010.12.08
  • Accepted : 2011.02.11
  • Published : 2011.04.01
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Abstract

This paper proposes a method to reduce the limit cycle phenomenon that appears in the steady-state response of a pendubot system, when it is controlled by a state feedback controller based on the linearized system model. For this, we employed the compensator which estimates the friction based on the LuGre model in the LQR control. The proposed compensation method is validated by experiments for a pendubot system, which shows that the external disturbance as well can be efficiently compensated.

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References

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