あらかじめ指定された過渡性能と定常性能を実現する摩擦補償制御

抄録

A friction compensation control method based on funnel control has been developed that achieves a pre-specified transient and steady-state performance. The proposed control method has the following features: (1) the controller is designed using a backstepping method, (2) the friction characteristic is represented by the LuGre model, (3) the nonlinear characteristic of the LuGre model is approximated by a neural network, and (4) the weights of the neural network are estimated adaptively. To verify the effectiveness of the proposed control method, experiments were performed using a positioning stage. As a result, it was confirmed that the proposed control method could achieve the pre-specified transient and steady-state performance even when the dynamic behavior of nonlinear friction changed.