DocumentCode
2782304
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
Volume
3
fYear
1996
fDate
11-13 Dec 1996
Firstpage
2830
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location
Kobe
ISSN
0191-2216
Print_ISBN
0-7803-3590-2
Type
conf
DOI
10.1109/CDC.1996.573545
Filename
573545
Link To Document