TY - JOUR
T1 - Adaptive compensator of single state elastoplastic friction model
AU - Abouelsoud, A. A.
AU - Abdo, J.
AU - Zaier, R.
PY - 2011
Y1 - 2011
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
UR - http://www.scopus.com/inward/record.url?scp=84855542331&partnerID=8YFLogxK
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U2 - 10.24200/tjer.vol8iss2pp66-73
DO - 10.24200/tjer.vol8iss2pp66-73
M3 - Article
AN - SCOPUS:84855542331
VL - 8
SP - 66
EP - 73
JO - Journal of Engineering Research
JF - Journal of Engineering Research
SN - 1726-6009
IS - 2
ER -