Title :
Adaptive friction compensation using a Lyapunov-based design scheme
Author :
Yazdizadeh, A. ; Khorasani, K.
Author_Institution :
Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
Abstract :
A simple method for constructing a nonlinear estimator for adaptive friction compensation is developed. The design is based on Lyapunov technique and attempts to compensate for frictional force by estimating the unknown Coulomb friction coefficient. It is shown that asymptotic stability of the error dynamics is guaranteed without imposing a constraint on the velocity. Simulation results confirm the advantages of the proposed method
Keywords :
Lyapunov methods; adaptive control; asymptotic stability; compensation; control system synthesis; friction; Coulomb friction coefficient estimation; Lyapunov-based design scheme; adaptive friction compensation; asymptotic stability; error dynamics; nonlinear estimator; Asymptotic stability; Control nonlinearities; Control systems; Friction; Linear feedback control systems; Lyapunov method; Nonlinear control systems; Performance gain; Sufficient conditions; Velocity control;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.573545
