The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
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Adaptive High Precision Control of Dynamic System Using Friction Compensation Schemes

마찰력 보상 기법을 이용한 동적 시스템의 고 정밀 적응제어

  • Published : 2000.10.01
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Abstract

We propose an adaptive nonlinear control algorithm for compensation of the stick-slip friction in a dynamic system. The friction force and mass of the system are estimated and compensated by adaptive control law. Especially, as the nonlinear control input in a small tracking error zone is enlarged by the nonlinear function, the steady state error is significantly reduced. The proposed algorithm is a direct adaptive control method based on the Laypunov stability theory, and its convergence is guaranteed under the bounded noise or torque disturbance. We verified the performance of the proposed algorithm by computer simulation on one-DOF mechanical system with friction.

Keywords

References

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