Adaptive robust control of linear motors with dynamic friction compensation using modified LuGre model

LuGre model has been widely used in dynamic friction modeling and compensation. However, there are some practical difficulties when applying it to systems experiencing large range of motion speeds such as, the linear motor drive system studied in the ∧ article. This article first details the digital implementation problems of the LuGre model based dynamic friction compensation. A modified model is then presented to overcome those shortcomings. The proposedmodel is equivalent to LuGre model at low speed, and the static frictionmodel at high speed,with a continuous transition between them. Adiscontinuous projection based adaptive robust controller (ARC) is then constructed, which explicitly incorporates the proposed modified dynamic friction model for a better friction compensation. Nonlinear observers are built to estimate the unmeasurable internal state of the dynamic friction model. On-line parameter adaptation is utilized to reduce the effect of various parametric uncertainties, while certain robust control laws are synthesized to effectively handle various modeling uncertainties for a guaranteed robust performance. The proposed controller is also implemented on a linearmotor driven industrial gantry system, alongwith controllers with the traditional static friction compensation and LuGre model compensation. Extensive comparative experimental results have been obtained, revealing the instabilitywhen using the traditional LuGre model for dynamic friction compensation at high speed experiments and the improved tracking accuracywhen using the proposedmodified dynamic frictionmodel. The results validate the effectiveness of the proposed approach in practical applications. © 2009 Elsevier Ltd. All rights reserved.