Adaptive compensator of single state elastoplastic friction model

A. A. Abouelsoud, J. Abdo, R. Zaier

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)66-73
Number of pages8
JournalJournal of Engineering Research
Volume8
Issue number2
Publication statusPublished - 2011

Fingerprint

Friction
Closed loop systems
Trajectories
Controllers

Keywords

  • Adaptive compensator
  • Elastoplastic friction model
  • Lyapunov second method

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Adaptive compensator of single state elastoplastic friction model. / Abouelsoud, A. A.; Abdo, J.; Zaier, R.

In: Journal of Engineering Research, Vol. 8, No. 2, 2011, p. 66-73.

Research output: Contribution to journalArticle

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