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Identification and adaptive robust precision motion control of systems with nonlinear friction

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Abstract

Both accurate system identification and high-performance controller design are necessary for precision motion systems. This paper first considers the unavoidable issue of nonlinear friction effect on traditional frequency identification widely used by practicing engineers and simultaneously presented an improved identification method with nonlinear friction compensation, which has two freedoms to guarantee an accurate estimation of the frequency response of the underlying linear dynamics in practice. The effectiveness of the proposed identification method is verified through different experimental platforms, which also shows the applicability of the proposed method to different kinds of dynamics subjected to nonlinear friction. An adaptive robust controller (ARC) is then synthesized to obtain a guaranteed robust performance in the presence of various uncertainties. Furthermore, with the obtained identification results, certain gain tuning rules are given in the paper to help engineers choose proper ARC controller gains quickly to maximize the achievable control performance in practice. Comparative experimental results obtained show the excellent tracking performance of the proposed ARC algorithm, which also validates the practical significance of the proposed frequency identification method.

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Notes

  1. Due to the severe oscillation under this situation, the system has been shut done at about 40 s for the sake of safety. After then, no data have been collected.

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Authors and Affiliations

  1. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China

    Chao Li & Bin Yao

  2. Ocean College, Zhejiang University, Hangzhou, 310027, China

    Zheng Chen

  3. School of Mechanical Engineering, Purdue University, West Lafayette, IN, 47907, USA

    Bin Yao

Authors
  1. Chao Li
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  2. Zheng Chen
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  3. Bin Yao
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Correspondence to Zheng Chen.

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The authors declare that they have no conflict of interest.

Additional information

This work was supported by National Natural Science Foundation of China (Nos. 61603332, 51475412 and 51875508) and Science Fund for Creative Research Groups of National Natural Science Foundation of China (No. 51521064).

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Li, C., Chen, Z. & Yao, B. Identification and adaptive robust precision motion control of systems with nonlinear friction. Nonlinear Dyn 95, 995–1007 (2019). https://doi.org/10.1007/s11071-018-4610-6

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  • DOI: https://doi.org/10.1007/s11071-018-4610-6

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