Abstract
A nonlinear friction is an unavoidable phenomenon frequently experienced in mechanical system between two contact surfaces. An adaptive compensator is designed to achieve tracking of a desired velocity trajectory in the presence of friction force described by a single state elastoplastic friction model. The adaptive compensator includes an adaptive observer and a computed force controller. The closed loop system is shown to be stable using Lyapunov second method. Simulation results show the effectiveness of the proposed compensator.
| Original language | English |
|---|---|
| Pages (from-to) | 66-73 |
| Number of pages | 8 |
| Journal | Journal of Engineering Research |
| Volume | 8 |
| Issue number | 2 |
| Publication status | Published - 2011 |
Keywords
- Adaptive compensator
- Elastoplastic friction model
- Lyapunov second method
ASJC Scopus subject areas
- Engineering(all)