Transactions on Control, Automation and Systems Engineering

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Tracking Control of Mechanical Systems with Partially Known Friction Model

  • Yang, Hyun-Suk (School of Electronic and Electrical Engineering, Hongik University) ;
  • Martin C. Berg (Dept. of Mechanical Engineering, University of Washington U.S.A.) ;
  • Hong, Bum-Il (Dept. of Mathematics and Institute of Natural Science, Kyung Hee University)
  • Published : 2002.12.01
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Abstract

Two adaptive nonlinear friction compensation schemes are proposed for second-order nonlinear mechanical systems with a partially known nonlinear dynamic friction model to achieve asymptotic position and velocity tracking. The first scheme has auxiliary filtered states so that a simple open-loop observer can be used. The second one has a dual-observer structure to estimate two different nonlinear aspects of the friction state. Conditions for the parameter estimates to converge to the true parameter values are presented. Simulation results are utilized to show control performance and to demonstrate the convergence of the parameter estimates to their true values.

Keywords

References

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