气动伺服摩擦补偿控制

presents a novel continuous approximation of the LuGre model, with the aim of improving its applicability in the control of a class of systems that include fluid-driven servo positioners. The main attractive of the proposed approximation is the preservation of the properties of boundedness and passivity that are inherent to the original LuGre model, a feature that is not guaranteed in the approximate models that are usually encountered in the specialized literature. The most relevant properties of the proposed approximation are d emonstrated analytically, and its applicability is illustrated both analytically and experimentally in the case of a pneumatic servo positioner. emonstrated analytically, and its applicability is illustrated both analytically and experimentally in the case of a pneumatic servo positioner.