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.
|Number of pages||8|
|Journal||Journal of Engineering Research|
|Publication status||Published - 2011|
- Adaptive compensator
- Elastoplastic friction model
- Lyapunov second method
ASJC Scopus subject areas