Journal of the Korea Academia-Industrial cooperation Society (한국산학기술학회논문지)

The Korea Academia-Industrial cooperation Society (한국산학기술학회)
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Adaptive Robust Control of Mechanical Systems with Uncertain Nonlinear Dynamic Friction

비선형 마찰력이 있는 시스템의 강인한 적응제어기법

  • 이태봉 (경원대학교 전자공학과) ;
  • 양현석 (홍익대학교 전자전기공학부) ;
  • 김병한 (삼성전기 중앙연구소)
  • Received : 2011.09.01
  • Accepted : 2011.11.10
  • Published : 2011.11.30
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Abstract

In this paper, an adaptive nonlinear friction compensation scheme for second-order nonlinear mechanical system with a partially known nonlinear dynamic friction is proposed to achieve asymptotic position and velocity tracking in the absence of disturbances and modeling errors. It is also shown that even with disturbances and modeling errors, in contrast to existing other adaptive control schemes, by proper adjustment of design parameters, reduced error bounds on position and velocity tracking can be achieved.

본 논문에서는 부분적으로 알고 있는 비선형 마찰력이 있는 2차 기계시스템에 대한 강인한 적응제어 기법을 제시한다. 제시하는 적응제어 방법은 잡음이나 모델링 에러가 없는 경우에는 위치 및 속도 추적 오차는 점근적으로 영으로 수렴함을 보장하며, 잡음이나 모델링 에러가 있는 경우에는 그동안 발표된 다른 논문의 결과와 달리 디자인 변수를 적절하게 선택하면 위치 및 속도 추적 오차를 원하는 범위까지 줄일 수 있음을 보였으며 이는 시뮬레이션 결과를 통해 입증하였다.

Keywords

References

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