Compensation of dynamic friction by a fractional order robust controller

I. Rudas, J. Tar, Béla Pátkai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

In this paper a fractional order robust control of a 2 Degrees Of Freedom (DOF) Classical Mechanical System, a ball-beam system is considered. The control task has the interesting feature that only one of the DOFs of the system, i.e. the position of the ball is controlled via controlling the other axis, the tilting angle of the beam suffering from dynamic friction mathematically approximated by the LuGre model. If the internal physics of the drive system is neglected this system is a 4th order one because only the 4 th time-derivative of the ball's position can directly be influenced by the torque rotationally accelerating the beam. It also has position and rotational velocity "saturation" since the gravitational acceleration limits the available acceleration of the ball both in the centripetal and in the vertical direction. This limitation is taken into account by the application of angular and angular velocity potentials keeping both values bounded. The Variable Structure / Sliding Mode controller applied is based on a standard error metrics that has to converge to zero during finite time according to a fractional order differential equation in discrete time approximation. It is shown that little reduction of the order of differentiation from 1 improves precision and robustness of the control against the measurement noises. The control is illustrated via simulation.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Computational Cybernetics, ICCC
DOIs
Publication statusPublished - 2006
Event2006 IEEE International Conference on Computational Cybernetics, ICCC - Tallinn, Estonia
Duration: Aug 20 2006Aug 22 2006

Other

Other2006 IEEE International Conference on Computational Cybernetics, ICCC
CountryEstonia
CityTallinn
Period8/20/068/22/06

Fingerprint

Friction
Controllers
Angular velocity
Robust control
Differential equations
Torque
Physics
Derivatives
Compensation and Redress

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Electrical and Electronic Engineering

Cite this

Rudas, I., Tar, J., & Pátkai, B. (2006). Compensation of dynamic friction by a fractional order robust controller. In 2006 IEEE International Conference on Computational Cybernetics, ICCC [4097690] https://doi.org/10.1109/ICCCYB.2006.305729

Compensation of dynamic friction by a fractional order robust controller. / Rudas, I.; Tar, J.; Pátkai, Béla.

2006 IEEE International Conference on Computational Cybernetics, ICCC. 2006. 4097690.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Rudas, I, Tar, J & Pátkai, B 2006, Compensation of dynamic friction by a fractional order robust controller. in 2006 IEEE International Conference on Computational Cybernetics, ICCC., 4097690, 2006 IEEE International Conference on Computational Cybernetics, ICCC, Tallinn, Estonia, 8/20/06. https://doi.org/10.1109/ICCCYB.2006.305729
Rudas I, Tar J, Pátkai B. Compensation of dynamic friction by a fractional order robust controller. In 2006 IEEE International Conference on Computational Cybernetics, ICCC. 2006. 4097690 https://doi.org/10.1109/ICCCYB.2006.305729
Rudas, I. ; Tar, J. ; Pátkai, Béla. / Compensation of dynamic friction by a fractional order robust controller. 2006 IEEE International Conference on Computational Cybernetics, ICCC. 2006.
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