Adaptive Friction Compensation for 2-DOF Tracking System

  • WANG Hongru;WANG Jianzhong
  • 1. School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, Jiangsu Province, China;2. School of Mechatronics, Beijing Institute of Technology, Beijing 100081, China

Received date: 2010-11-10

  Revised date: 2011-05-31

  Online published: 2011-07-18


In order to eliminate nonlinear effects of friction on 2-DOF tracking system and to improve its position-tracking accuracy, a novel adaptive friction compensation algorithm is proposed. Based on nonlinear characteristics of friction, a LuGre dynamic friction model is adopted to characterize friction in the 2-DOF tracking system. In this method, unknown parameters for the LuGre model are estimated in the manner of off-line; friction state and the inconstant parameters are estimated by using nonlinear observers and self-adaptive law. A Lyapunov-like argument proves the asymptotic stability of the whole closed-loop system. Experimental results indicate that the proposed method could effectively alleviate the influences of friction when the 2-DOF tracking system works with a lower speed, and could improve tracking accuracy for the 2-DOF tracking system accordingly.

Cite this article

WANG Hongru;WANG Jianzhong . Adaptive Friction Compensation for 2-DOF Tracking System[J]. Science & Technology Review, 2011 , 29(20) : 53 -56 . DOI: 10.3981/j.issn.1000-7857.2011.20.009