Adaptive nonlinear friction compensation with parametric uncertainties

Author

Tan, Yaolong ; Kanellakopoulos, Ioannis

Author_Institution

Dept. of Electr. Eng., California Univ., Los Angeles, CA, USA

Volume

4

fYear

1999

fDate

1999

Firstpage

2511

Abstract

Two adaptive nonlinear friction compensation schemes are proposed to handle two types of parametric uncertainty in the LuGre dynamic friction model: non-uniform friction force variations and normal force variations. Our design features a dual-observer structure to estimate different nonlinear effects of the unmeasurable friction state. Using the estimated friction parameters and the dual observers for the unmeasurable friction state, adaptive nonlinear controllers are designed to achieve globally asymptotic tracking of the given velocity reference signal

Keywords

adaptive control; compensation; friction; mechanical variables control; nonlinear control systems; observers; parameter estimation; uncertain systems; LuGre dynamic friction model; adaptive nonlinear friction compensation; dual-observer structure; globally asymptotic tracking; nonlinear effects; nonuniform friction force variations; normal force variations; parametric uncertainties; unmeasurable friction state; Friction; Lubrication; Mechanical systems; Observers; Parameter estimation; Signal design; State estimation; Steady-state; Temperature; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1999. Proceedings of the 1999

Conference_Location

San Diego, CA

ISSN

0743-1619

Print_ISBN

0-7803-4990-3

Type

conf

DOI

10.1109/ACC.1999.786505

Filename

786505