Friction compensation using adaptive nonlinear control with persistent excitation

Author

Misovec, Kathleen M. ; Annaswamy, Anuradha M.

Author_Institution

Dept. of Mech. Eng., MIT, Cambridge, MA, USA

Volume

3

fYear

1998

fDate

21-26 Jun 1998

Firstpage

1483

Abstract

Nonlinear dynamics and modelling uncertainties of a frictional force can cause instability in an adaptive friction compensation scheme. We propose an adaptive nonlinear controller where the persistent excitation in the desired trajectory enables stability of the closed-loop system when the friction force effects are due to static, Coulomb and viscous components, as well as for the inertia and Stribeck effects. The controller is shown to be robust to uncertainties due to frictional lag and frictional memory. Stable adaptation for the nonlinearly-occurring Stribeck parameter is achieved by exploiting convexity/concavity properties. An analytical framework is given to explain the effectiveness of dither in friction control problems

Keywords

adaptive control; closed loop systems; compensation; dynamics; force control; friction; nonlinear control systems; stability; Stribeck effects; adaptive control; closed-loop system; compensation; dynamics; friction control; inertia effect; nonlinear control; persistent excitation; stability; Adaptive control; Control systems; Force control; Friction; Nonlinear control systems; Nonlinear dynamical systems; Programmable control; Robust control; Stability; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1998. Proceedings of the 1998

Conference_Location

Philadelphia, PA

ISSN

0743-1619

Print_ISBN

0-7803-4530-4

Type

conf

DOI

10.1109/ACC.1998.707074

Filename

707074