Title :
Adaptive friction compensation using the GMS model with polynomial stribeck function
Author :
Nilkhamhang, Itthisek ; Sano, Akira
Author_Institution :
Graduate Sch. of Sci. & Technol., Keio Univ., Yokohama
Abstract :
An adaptive friction compensator is proposed using the generalized Maxwell-slip (GMS) friction model, with a new, linearly-parameterized Stribeck function. It employs a polynomial equation that is linear-in-the-parameter to describe the nonlinear Stribeck effect in the GMS model, and simplifies the design of an adaptive friction compensator. The proposed compensator has a switching structure to accommodate for the hybrid nature of the GMS model, and the parameter projection method is used to guarantee a boundedness on parameter estimates and stability of the switching adaptive controller. The validity and effectiveness of the proposed, linearly-parameterized friction compensator is verified by simulations for the velocity control of an inertia system under the influence of dynamic friction
Keywords :
adaptive control; friction; stability; velocity control; adaptive friction compensation; dynamic friction; generalized Maxwell-slip friction model; inertia system; linear-in-the-parameter; linearly-parameterized Stribeck function; linearly-parameterized friction compensator; nonlinear Stribeck effect; parameter estimates; polynomial Stribeck function; polynomial equation; stability; switching adaptive controller; velocity control; Adaptive control; Friction; Maxwell equations; Nonlinear dynamical systems; Nonlinear equations; Parameter estimation; Polynomials; Programmable control; Robust stability; Velocity control;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776795
