Adaptive Compensator of Single State Elastoplastic Friction Model

A. A. Abouelsoud, J. Abdo, R. Zaier

Abstract


 A nonlinear friction is an unavoidable phenomenon frequently experienced in mechanical system between two contact surfaces. An adaptive compensator is designed to achieve tracking of a desired velocity trajectory in the presence of friction force described by a single state elastoplastic friction model. The adaptive compensator includes an adaptive observer and a computed force controller. The closed loop system is shown to be stable using Lyapunov second method. Simulation results show the effectiveness of the proposed compensator.

 


Keywords


Adaptive compensator, Elastoplastic friction model, Lyapunov second method

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References


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DOI: http://dx.doi.org/10.24200/tjer.vol8iss2pp66-73

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