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Sökning: LAR1:umu > Konferensbidrag > Lunds universitet > Robertsson Anders

  • Resultat 1-3 av 3
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  • Freidovich, Leonid, et al. (författare)
  • Friction compensation based on LuGre model
  • 2006
  • Konferensbidrag (refereegranskat)abstract
    • We consider a tracking problem for mechanical systems. It is assumed that feedback controller is designed neglecting some disturbances, which could be approximately modeled by a dynamic LuGre friction model. We are interested to derive an additive observer-based compensator to annihilate or reduce the influence of such a disturbance. We exploit a recently suggested approach for observer design for LuGre friction-model-based compensation. In order to follow this technique, it is necessary to know the Lyapunov function for the unperturbed system, parameters of the dynamic friction model, and to have certain structural property satisfied. The case when this property is passivity with respect to the matching disturbance related to the given Lyapunov function is illustrated in the paper with an example of a DC-motor. The main contribution is some new insights into numerical real time implementation of friction compensators for various LuGre type models. The other contribution, built upon the main one, is experimental verification of the suggested observer design procedure.
  • Shiriaev, Anton S., et al. (författare)
  • Criteria for Global Stability of Coupled Systems with Application to Robust Output Feedback Design for Active Surge Control
  • 2009
  • Konferensbidrag (refereegranskat)abstract
    • The well-known and commonly accepted finite dimensional model qualitatively describing surge instabilities in centrifugal (and axial) compressors is considered. The problem of global output feedback stabilization for it is solved. The solution relies on two new criteria for global stability proposed for a class of nonlinear systems exploiting quadratic constraints for infinite sector nonlinearities. Two families of robust output feedback controllers are proposed. Controllers from the first family ensure global exponential stabilization. The ones from the second family provide integral action but only ensure local exponential and global asymptotic stability. Performance is verified by simulations.
  • Shiriaev, Anton, et al. (författare)
  • Virtual-Constraints-Based Design of Stable Oscillations of Furuta Pendulum: Theory and Experiments
  • 2006
  • Konferensbidrag (refereegranskat)abstract
    • We consider a special benchmark mechanical system with two degrees of freedom and underactuation degree one. Furuta Pendulum consists of an arm, rotating in the horizontal plane, and a pendulum, attached to the end of the arm freely and moving in the vertical plane. Our goal is to create and partially shape stable oscillations of the pendulum. The approach is based on the idea of stabilization of a particular virtual holonomic constraint, imposed on the configuration coordinates. We describe here a step-by-step design procedure in details. Our approach is illustrated through successful experimental tests.
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  • Resultat 1-3 av 3
fritt online (3)
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refereegranskat (3)
Johansson, Rolf, (3)
Freidovich, Leonid, (2)
Shiriaev, Anton (2)
Freidovich, Leonid B ... (1)
Shiriaev, Anton S. (1)
Umeå universitet (3)
Engelska (3)
Forskningsämne (UKÄ/SCB)
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