Adaptive Friction Compensation Applied to Positioning of a Space-Station Solar Array

Adaptive friction compensation control schemes are developed for linear systems with unknown frictions. A friction model including kinetic, viscous, static and Stribeck friction components is parameterized for adaptive estimation and employed for two control schemes: one for a known, and the other for an unknown linear part. Adaptive friction compensation in positioning of a space-station solar array is investigated. Simulations show that the proposed adaptive control schemes promise to bring considerable improvements to system performance.