Adaptive compensator of single state elastoplastic friction model

A. A. Abouelsoud; J. Abdo; R. Zaier

Adaptive compensator of single state elastoplastic friction model

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

^*Corresponding author for this work

Mechanical and Industrial Engineering

Research output: Contribution to journal › Article › peer-review

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)

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title = "Adaptive compensator of single state elastoplastic friction model",

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.",

keywords = "Adaptive compensator, Elastoplastic friction model, Lyapunov second method",

author = "Abouelsoud, {A. A.} and J. Abdo and R. Zaier",

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AU - Abouelsoud, A. A.

AU - Abdo, J.

AU - Zaier, R.

PY - 2011

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N2 - 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.

AB - 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.

KW - Adaptive compensator

KW - Elastoplastic friction model

KW - Lyapunov second method

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