Friction Compensation for Dynamic and Static Models Using Nonlinear Adaptive Optimal Technique | ||
| AUT Journal of Modeling and Simulation | ||
| مقاله 1، دوره 46، شماره 1، 2014، صفحه 1-10 اصل مقاله (621.41 K) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2014.530 | ||
| نویسندگان | ||
| M. Nazari Monfared1؛ M. J. Yazdanpanah* 2 | ||
| 1M.Sc. student of Control Engineering in the Department of Electrical Engineering, Faculty of Electrical, Biomedical, and Mechatronic, Qazvin Branch, Islamic Azad University, Qazvin, Iran | ||
| 2Professor, Control & Intelligent Processing Center of Excellence, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran | ||
| چکیده | ||
| Friction is a nonlinear phenomenon which has destructive effects on performance of control systems. To obviate these effects, friction compensation is an effectual solution. In this paper, an adaptive technique is proposed in order to eliminate limit cycles as one of the undesired behaviors due to presence of friction in control systems which happen frequently. The proposed approach works for nonlinear dynamic and static friction models and is applicable to a wide range of different mechanical systems. It is also applied to a simple inverted pendulum on a cart as a highly nonlinear under-actuated system. A nonlinear optimal controller based on the approximate solution of Hamilton-Jacobi-Bellman partial differential equation is designed to fulfill our control objectives and achieve preferable performance compared to those of the linear optimal controllers. It causes to have more accuracy in system's response and positioning in the presence of friction. Simulation result approve the effectiveness of both the presented technique and controller. | ||
| کلیدواژهها | ||
| Adaptive technique؛ friction compensation؛ HJB partial differential equation؛ inverted pendulum on a cart؛ nonlinear optimal controller | ||
| مراجع | ||
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