Title :
Adaptive compensation of dynamic friction in finite time of 1 DOF mechanical system
Author_Institution :
CINVESTAV, Mexico City, Mexico
Abstract :
Dynamic friction provokes limit cycles and complex nonlinear behaviors that may cause instability in mechanical systems. This phenomena makes it difficult to realise control of the required precision for a physical system, and it is desirable to compensate this friction, ideally in finite time with a continuous control law. In this paper, a second order adaptive sliding mode controller is proposed which guarantees robust tracking in finite time for a simple uncertain mechanical system subject to unknown dynamic friction. The controller exhibits a well-posed terminal sliding mode all the time, and the output of the controller is chattering-free. Extension to complex fully actuated n degrees of freedom mechanical systems is straightforward to obtain. Simulation data is discussed
Keywords :
adaptive control; compensation; friction; limit cycles; nonlinear control systems; robust control; tracking; uncertain systems; variable structure systems; 1-DOF mechanical system; adaptive compensation; chattering-free output; complex nonlinear behaviors; continuous control law; dynamic friction; finite time; friction compensation; instability; limit cycles; robust tracking; second order adaptive sliding mode controller; terminal sliding mode; uncertain mechanical system; unknown dynamic friction; Adaptive control; Control systems; Convergence; Friction; Mechanical systems; Mechanical variables control; Nonlinear dynamical systems; Programmable control; Sliding mode control; TV;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.946122
