| 言語種別 | 日本語 |
|---|---|
| 発行・発表の年月 | 2011/09 |
| 形態種別 | 学術研究報告書 |
| 標題 | LuGreモデルに基づく摩擦補償制御
－実験による基本性能評価－ |
| 執筆形態 | 共著 |
| 掲載誌名 | 平成23年電気学会産業計測制御研究会「ナノスケールサーボのための制御技術」 |
| 掲載区分 | 国内 |
| 出版社・発行元 | 電気学会 |
| 巻・号・頁 | 77-82 |
| 著者・共著者 | 星野 大貴，釜道 紀浩，石川 潤 |
| 概要 | The proposed observer is based on the LuGre friction model. The observer directly uses the LuGre model as a design base, where the LuGre model is locally-linearized and time-varying observer gains are derived from the linearized model as a function of velocity estimate. From the experimental results, it has been confirmed that the proposed friction observer can eliminate influence of friction and that it is effective for improving positioning accuracy. |