Title :
Adaptive nonlinear friction compensation with parametric uncertainties
Author :
Tan, Yaolong ; Kanellakopoulos, Ioannis
Author_Institution :
Dept. of Electr. Eng., California Univ., Los Angeles, CA, USA
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;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786505
