Title :
Feedback linearization based adaptive friction compensation for a sandwich nonlinear system
Author :
Taware, Avanash ; Pradhan, Nalesh ; Tao, Gang
Author_Institution :
Dept. of Electr. & Comput. Eng., Virginia Univ., Charlottesville, VA, USA
Abstract :
Control strategies are developed for a sandwich nonlinear system with joint flexibility, damping and friction. Ideal feedback linearization matching conditions are defined for the case when the system parameters are known. Adaptive feedback linearization is employed to get asymptotically exact cancellation for the uncertainty inherent in the knowledge of the given system parameters. Friction is estimated by a model and the linearizing control input is modified with the addition of a friction compensating term
Keywords :
compensation; feedback; friction; linearisation techniques; nonlinear control systems; adaptive feedback linearization; adaptive friction compensation; asymptotically exact cancellation; damping; flexibility; friction estimation; linearizing control input; sandwich nonlinear system; system parameters; Adaptive control; Control systems; Damping; Friction; Linear feedback control systems; Linear systems; Nonlinear dynamical systems; Nonlinear systems; State feedback; Uncertainty;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945610
