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http://dx.doi.org/10.5762/KAIS.2011.12.11.5194

Adaptive Robust Control of Mechanical Systems with Uncertain Nonlinear Dynamic Friction  

Lee, Tae-Bong (Dept. of Electronics, Kyungwon University)
Yang, Hyun-Suk (School of Electronic and Electrical Engineering, Hongik University)
Kim, Byung-Han (Samsung Electric Research Center)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.12, no.11, 2011 , pp. 5194-5201 More about this Journal
Abstract
In this paper, an adaptive nonlinear friction compensation scheme for second-order nonlinear mechanical system with a partially known nonlinear dynamic friction is proposed to achieve asymptotic position and velocity tracking in the absence of disturbances and modeling errors. It is also shown that even with disturbances and modeling errors, in contrast to existing other adaptive control schemes, by proper adjustment of design parameters, reduced error bounds on position and velocity tracking can be achieved.
Keywords
Mechanical systems with friction; Adaptive control; friction identification scheme;
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