DocumentCode
342961
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
Volume
1
fYear
1999
fDate
1999
Firstpage
540
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;
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.1999.782886
Filename
782886
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