Optimal Control Design for Robust Fuzzy Friction Compensation in a Robot Joint

This paper presents a methodology for the compensation of nonlinear friction in a robot joint structure based on a fuzzy local modeling technique. To enhance the tracking performance of the robot joint, a dynamic model is derived from the local physical properties of friction. The model is the basis...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2009-10, Vol.56 (10), p.3832-3839
Main Authors: Mostefai, L., Denai, M., Oh Sehoon, Hori, Y.
Format: Article
Language:English
Subjects:
Compensation
Control system synthesis
Dynamical systems
Friction
Friction compensation
Fuzzy
Fuzzy control
Fuzzy logic
fuzzy modeling
fuzzy observers
Fuzzy set theory
Linear matrix inequalities
linear matrix inequality (LMI)
Linearity
Nonlinear dynamical systems
Nonlinear dynamics
Optimal control
optimal H_{ \infty} control
Robots
Robust control
Studies
System testing
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Summary:This paper presents a methodology for the compensation of nonlinear friction in a robot joint structure based on a fuzzy local modeling technique. To enhance the tracking performance of the robot joint, a dynamic model is derived from the local physical properties of friction. The model is the basis of a precompensator taking into account the dynamics of the overall corrected system by means of a minor loop. The proposed structure does not claim to faithfully reproduce complex phenomena driven by friction. However, the linearity of the local models simplifies the design and implementation of the observer, and its estimation capabilities are improved by the nonlinear integral gain. The controller can then be robustly synthesized using linear matrix inequalities to cancel the effects of inexact friction compensation. Experimental tests conducted on a robot joint with a high level of friction demonstrate the effectiveness of the proposed fuzzy observer-based control strategy for tracking system trajectories when operating in zero-velocity regions and during motion reversals.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2009.2024101