Title :
An adaptive compensator for a servosystem with Coulomb and viscous friction
Author_Institution :
Dept. of Electron. Eng., Van Nung Inst. of Technol., Chung-li, Taiwan
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;
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
DOI :
10.1109/CCA.2001.973863
