Regular Papers
Transaction on Control Automation, and Systems Engineering 2002; 4(4): 311-318
© The International Journal of Control, Automation, and Systems
Tracking Control of Mechanical Systems with Partially Known Friction Model
Two adaptive nonlinear friction compensation schemes are proposed for second-order nonlinear mechanical systems with a partially known nonlinear dynamic friction model to achieve asymptotic position and velocity tracking. The first scheme has auxiliary filtered states so that a simple open-loop observer can be used. The second one has a dual-observer structure to estimate two different nonlinear aspects of the friction state. Conditions for the parameter estimates to converge to the true parameter values are presented. Simulation results are utilized to show control performance and to demonstrate the convergence of the parameter estimates to their true values.
Keywords adaptive control, mechanical systems with friction, bristle model
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Regular Papers
Transaction on Control Automation, and Systems Engineering 2002; 4(4): 311-318
Published online December 1, 2002
Copyright © The International Journal of Control, Automation, and Systems.
Tracking Control of Mechanical Systems with Partially Known Friction Model
Hyun Suk Yang/Martin C. Berg/Bum Il Hong
Abstract
Two adaptive nonlinear friction compensation schemes are proposed for second-order nonlinear mechanical systems with a partially known nonlinear dynamic friction model to achieve asymptotic position and velocity tracking. The first scheme has auxiliary filtered states so that a simple open-loop observer can be used. The second one has a dual-observer structure to estimate two different nonlinear aspects of the friction state. Conditions for the parameter estimates to converge to the true parameter values are presented. Simulation results are utilized to show control performance and to demonstrate the convergence of the parameter estimates to their true values.
Keywords: adaptive control, mechanical systems with friction, bristle model
Vol. 22, No. 10, pp. 2955~3252
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