Non-Model-Based Observer for Friction

Abstract

Friction is to be considered an essential process
for micrometer scale tracking servo systems. Therefore, a
high performing and robust control of friction becomes an
important issue in mecatronics and robotics field of
research. In this paper, considering the LuGre model of
friction, a non-model-based friction compensator is
proposed to improve position tracking in a DC electrical
drive system. The approach to friction influence
compensation is based on the disturbance observer. Friction
is to be considered as a load torque for the DC drive took
into account and will be estimated via three different
structures proposed by the authors. Afterwards, the
observer is implemented in a classical feedback
compensation scheme in which friction is treated as a load
disturbance torque. The efficiency of using such observers
in DC servo drive with friction is analyzed by computer
simulation of a position control system