Adaptive compensation of dynamic friction in finite time of 1 DOF mechanical system

Author

Parra-Vega, V.

Author_Institution

CINVESTAV, Mexico City, Mexico

Volume

3

fYear

2001

fDate

2001

Firstpage

2462

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;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2001. Proceedings of the 2001

Conference_Location

Arlington, VA

ISSN

0743-1619

Print_ISBN

0-7803-6495-3

Type

conf

DOI

10.1109/ACC.2001.946122

Filename

946122