Title :
Friction compensation via smooth adaptive dynamic surface control
Author :
Maulana, Aria Putra ; Ohmori, Hiromitsu ; Sano, Akira
Author_Institution :
Dept. of Electr. Eng., Keio Univ., Yokohama, Japan
Abstract :
This paper is dealing with a development of friction compensation scheme for positional set-point regulation at DC motor servomechanism via smooth adaptive dynamic surface control design. No exact knowledge of the friction model is required for the design of the controller. The global asymptotic stability is achieved using Lyapunov´s direct method. Numerical simulation is presented to confirm the capability of the proposed scheme
Keywords :
Lyapunov methods; adaptive control; asymptotic stability; compensation; control system synthesis; force control; friction; position control; servomotors; DC motor servomechanism; Lyapunov method; adaptive control; asymptotic stability; dynamic surface control; friction compensation; positional set-point control; Adaptive control; Asymptotic stability; DC motors; Friction; Programmable control; Radio control; Servomechanisms; Shafts; Sliding mode control; 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.1999.782886
