Abstract
This paper proposes a tracking control method based on the extended state observer for the nonlinear mechanical servo system with friction compensation. The friction nonlinearity is described by a continuously differentiable LuGre model and compensated by using neural network (NN). Then, an extended state observer (ESO) is employed to estimate the system states and uncertainties including friction compensation error. A sliding mode control (SMC) scheme is developed based on ESO estimation to guarantee the convergence of the tracking error. Comparative simulations are conducted to show the superior performance of the proposed method.
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Acknowledgments
This work is supported by National Natural Science Foundation (NNSF) of China under Grant 61403343 and 12th Five-Year Plan Construction Project of Emerging University Characteristic Specialty (No. 080601).
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Li, C., Chen, Q. (2016). Extended State Observer Based Sliding Mode Control for Mechanical Servo System with Friction Compensation. In: Jia, Y., Du, J., Li, H., Zhang, W. (eds) Proceedings of the 2015 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-48386-2_12
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DOI: https://doi.org/10.1007/978-3-662-48386-2_12
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