Friction compensation in nonlinear dynamical systems using fault-tolerant control methods

• Autorzy: Bonfè M. , Castaldi P. , Preda N. , Simani S.
• Języki publikacji: EN

Abstrakty

EN

This paper describes the application of differential geometry and nonlinear systems analysis to the estimation of friction effects in a class of mechanical systems. The proposed methodology relies on adaptive filters, designed with a nonlinear geometric approach to obtain the disturbance de-coupling property, for the estimation of the friction force. Thanks to accurate estimation, friction effects are compensated by injecting the on-line estimate of friction force to the control action calculated by a standard linear state feedback. The inverted pendulum on a cart is considered as an application example and the proposed approach is compared with a commonly used friction compensation strategy, based on an explicit model of the friction force.

Słowa kluczowe

EN

fault-tolerant control; friction compensation; nonlinear systems; differential geometry

• Wydawca: Polskie Towarzystwo Diagnostyki Technicznej
• Czasopismo: Diagnostyka
• Rocznik: 2013
• Tom: Vol. 14, No. 4
• Strony: 13--19
• Opis fizyczny: Bibliogr. 7 poz., rys.

Twórcy

autor

Bonfè M.

• University of Ferrara, Department of Engineering Via Saragat 1, 44122 Ferrara, Italy

autor

Castaldi P.

• University of Bologna, Aerospace Engineering Campus, Via Fontanelle 40, 47100 Forli, Italy

autor

Preda N.

• University of Ferrara, Department of Engineering Via Saragat 1, 44122 Ferrara, Italy

autor

Simani S.

• University of Ferrara, Department of Engineering Via Saragat 1, 44122 Ferrara, Italy

Bibliografia

• [1] Olsson, H., Astrom, K., de Wit, C., Gafvert, M., Lischinsky, P., Friction models and friction compensation. European Journal of Control Vol. 4, N. 3, pp. 176-195 (1998).
• [2] Campbell S, Crawford S, Morris K. Friction and the Inverted Pendulum Stabilization Problem. Journal of Dynamic Systems, Measurement and Control, Vol. 130, N. 5, 2008.
• [3] Patton, R., Putra, D., Klinkhieo, S., Friction compensation as a fault-tolerant control problem. International Journal of Systems Science, Vol. 41, N. 8, 2010.
• [4] Isermann, R.: Fault-Diagnosis Systems: An Introduction from Fault Detection to Fault Tolerance, Springer-Verlag, 2005.
• [5] De Persis, C., Isidori, A., A geometric approach to non-linear fault detection and isolation. IEEE Transactions on Automatic Control, Vol. 45, N 6, pp. 853-865, 2001.
• [6] Castaldi, P., Geri, W., Bonfé, M., Simani, S., Benini, M.: Design of residual generators and adaptive filters for the FDI of aircraft model sensors. Control Engineering Practice, Vol. 18, N. 5, pp. 449-459, 2010.
• [7] Ioannou, P., Sun, J., Robust Adaptive Control. Prentice-Hall, 1996.