An adaptive compensator for a servosystem with Coulomb and viscous friction

Author

Huang, Jeng Tze

Author_Institution

Dept. of Electron. Eng., Van Nung Inst. of Technol., Chung-li, Taiwan

fYear

2001

fDate

2001

Firstpage

196

Lastpage

199

Abstract

An adaptive compensation scheme for a servo-system with Coulomb and viscous friction is presented. The proposed compensator consists of a standard linearizing control and an online nonlinear adaptive observer for estimating the coefficients of the Coulomb and viscous frictions. Without relying on persistent excitation, the proposed design ensures the asymptotic stability of both the tracking errors and friction estimation errors for any bounded desired velocity trajectory. Moreover, the friction coefficients can be separately identified for any non-constant commanded velocity trajectory. The simulation results carried out on a one-dimensional servo-system demonstrate the effectiveness of the proposed scheme

Keywords

adaptive control; asymptotic stability; compensation; feedback; friction; linearisation techniques; nonlinear control systems; observers; servomechanisms; Coulomb friction; adaptive compensator; adaptive control; asymptotic stability; feedback; linearising control; nonlinear control systems; observer; servo system; tracking; viscous friction; Adaptive control; Asymptotic stability; Error correction; Estimation error; Force control; Friction; Programmable control; Servomechanisms; Servosystems; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on

Conference_Location

Mexico City

Print_ISBN

0-7803-6733-2

Type

conf

DOI

10.1109/CCA.2001.973863

Filename

973863