Regular Papers
International Journal of Control, Automation and Systems 2011; 9(6): 1146-1153
Published online December 2, 2011
https://doi.org/10.1007/s12555-011-0616-2
© The International Journal of Control, Automation, and Systems
Recursive Model Free Controller: Application to Friction Compensation and Trajectory Tracking
In this paper friction compensation and trajectory tracking scheme is proposed for an X-Y robot using a Recursive Model Free Controller (RMFC). This controller is based on the theory of piecewise continuous systems which are a particular class of hybrid systems with autonomous switchings and controlled impulses. RMFC uses only the robot position measurements and does not require knowledge of electromechanical system parameters. The proposed control scheme is validated on a real time X-Y robot system.
Keywords Friction compensation, piecewise continuous systems, recursive model free control, trajectory tracking.
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Regular Papers
International Journal of Control, Automation and Systems 2011; 9(6): 1146-1153
Published online December 1, 2011 https://doi.org/10.1007/s12555-011-0616-2
Copyright © The International Journal of Control, Automation, and Systems.
Recursive Model Free Controller: Application to Friction Compensation and Trajectory Tracking
Haoping Wang, Christian Vasseur, Yang Tian, Vladan Koncar, and Nicolaï Christov*
Lille 1 University of Science and Technology
Abstract
In this paper friction compensation and trajectory tracking scheme is proposed for an X-Y robot using a Recursive Model Free Controller (RMFC). This controller is based on the theory of piecewise continuous systems which are a particular class of hybrid systems with autonomous switchings and controlled impulses. RMFC uses only the robot position measurements and does not require knowledge of electromechanical system parameters. The proposed control scheme is validated on a real time X-Y robot system.
Keywords: Friction compensation, piecewise continuous systems, recursive model free control, trajectory tracking.
Vol. 22, No. 9, pp. 2673~2953
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