Title :
Friction compensation in the presence of flexibility
Author_Institution :
Dept. of Electr. Eng., Virginia Univ., Charlottesville, VA, USA
Abstract :
An adaptive state feedback control scheme is developed for noncanonical form systems with unknown parameters, by employing static state feedback for pole placement and dynamic output feedback for parameter adaptation. The developed control scheme does not need a restrictive state space model matching condition for an adaptive state feedback design. An extended model reference adaptive control scheme is then developed for control of the two-body system with nonlinear friction components in the presence of flexibility
Keywords :
compensation; flexible structures; friction; model reference adaptive control systems; nonlinear control systems; pole assignment; state feedback; MRAC; adaptive state feedback control scheme; adaptive state feedback design; dynamic output feedback; extended model reference adaptive control scheme; flexibility; friction compensation; noncanonical form systems; nonlinear friction components; parameter adaptation; pole placement; restrictive state space model matching condition; static state feedback; two-body system; unknown parameters; Adaptive control; Control systems; Damping; Friction; Gears; Nonlinear control systems; Output feedback; Programmable control; State feedback; Transfer functions;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.703003
