40th International Conference on Production Engineering of Serbia
ICPES 2025
Nis, Serbia, 18-19th september 2025
ANALYSIS OF THE IMPACT OF FRICTION ON THE QUALITY OF REGULATION DEPENDING ON THE USED FRICTION MODEL AND THE CONTROL LAW
Igor Kocic, Saša S. Nikolic, Darko Mitic, Nikola Dankovic, Staniša Peric, Miloš Madic , Milan Trifunovic
DOI: 10.46793/ICPES25.084K
This paper analyses the effects of friction, i.e. the friction model, on control performance. The analysis was carried out using the model of the control object and the friction model with the application of different control laws. The Stribeck and LuGre friction models were considered. Position responses, control signals and friction force are shown as a function of the control laws of PID, SMC and TS LQR controllers. All simulations were performed using the MATLAB software package. The possibility of modeling a nonlinear system with friction using the Takagi-Sugeno fuzzy system and the method of generating a control signal using an LQR controller for each individual linear subsystem based on parallel distributed control (PDC) are shown. Control signals are generated using PID, SMC and TS-LQR control laws respectively. Instead of setting poles for each individual rule of the TS controller, the LQR method is used at the level of each individual rule by selecting unique Q and R matrices based on optimality criteria
Friction, Striebeck model, LuGre model, PID, SMC, Takagi-Sugeno LQR, friction compensation
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