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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.
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References
- Abdo J, Al-Yhmadi A (2009), The effect of controlled frequency and amplitude of vibration on friction. Solid state phenomena 147:380-385.
- Abdo J, AL-Yahmadi A (2004), A wear model for rough surfaces based on the ultimate-stress asperity concept. Int. J. of Applied Mechanics and Engineering 9:11-19.
- Abdo J, Farhang K (2005), Elastic-plastic contact model for rough surfaces based on plastic Asperity concept. Int. J. of Non-Linear Mechanics 40/4: 495-506.
- Abdo J, Tahat M, Abualsoud A, Danish M (2010), The effect of frequency of vibration and humidity on the stick-slip amplitude. Int. J. of mechanics and materials in Design 6(1):45-51.
- Canudas C de Wit, Olsson H, Astrom KJ, Lischinsky P (1995), A new model for control of system with friction. IEEE Transaction in Automatic Control 40(3):419-425.
- Dupont P, Hayward V, Armstrong B, Altpeter F (2002), Single state elastoplastic friction models. IEEE Transaction in Automatic Control 47(5):783-787.
- Greenwood JA, Williamson JBP (1966), Contact of nominally flat surfaces. Proc. R. Soc. 295:300.
- Greenwood JA, Tripp JH (1971), The contact of two rough nominally flat rough surfaces. Proc. Instn. Mech. Engrs. 185:625-633.
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- Ibrahim RA, Rivin E (1994), Friction-induced vibration, Part I: mechanics of contact and friction. Applied Mechanics Reviews 47:209-226.
- Mulhearn TO, Samuels LE (1962), The abrasion of metal: A model of the process, wear 5:478-498.
- Narendera KS, Annaswamy AM (1989), Stable adaptive systems Prentice Hall.
- Pullen J, Williamson JBP (1972), On the plastic contact of rough surfaces. Proc. Roy. Soc (London) A327:159-173.
- Seabra J, Berthe D (1987), Influence of surface waviness and roughness on the normal pressure distribution in the hertzian contact. ASME J. of Tribology 109:462-470.
References
Abdo J, Al-Yhmadi A (2009), The effect of controlled frequency and amplitude of vibration on friction. Solid state phenomena 147:380-385.
Abdo J, AL-Yahmadi A (2004), A wear model for rough surfaces based on the ultimate-stress asperity concept. Int. J. of Applied Mechanics and Engineering 9:11-19.
Abdo J, Farhang K (2005), Elastic-plastic contact model for rough surfaces based on plastic Asperity concept. Int. J. of Non-Linear Mechanics 40/4: 495-506.
Abdo J, Tahat M, Abualsoud A, Danish M (2010), The effect of frequency of vibration and humidity on the stick-slip amplitude. Int. J. of mechanics and materials in Design 6(1):45-51.
Canudas C de Wit, Olsson H, Astrom KJ, Lischinsky P (1995), A new model for control of system with friction. IEEE Transaction in Automatic Control 40(3):419-425.
Dupont P, Hayward V, Armstrong B, Altpeter F (2002), Single state elastoplastic friction models. IEEE Transaction in Automatic Control 47(5):783-787.
Greenwood JA, Williamson JBP (1966), Contact of nominally flat surfaces. Proc. R. Soc. 295:300.
Greenwood JA, Tripp JH (1971), The contact of two rough nominally flat rough surfaces. Proc. Instn. Mech. Engrs. 185:625-633.
Halling J, Nuri KA (1972), Contact of rough surfaces of working-hardening materials. In The Mechanics of Contact between Deformable Bodies, Eds. De Pater and Kalker. Delft: University Press 412.
Ibrahim RA, Rivin E (1994), Friction-induced vibration, Part I: mechanics of contact and friction. Applied Mechanics Reviews 47:209-226.
Mulhearn TO, Samuels LE (1962), The abrasion of metal: A model of the process, wear 5:478-498.
Narendera KS, Annaswamy AM (1989), Stable adaptive systems Prentice Hall.
Pullen J, Williamson JBP (1972), On the plastic contact of rough surfaces. Proc. Roy. Soc (London) A327:159-173.
Seabra J, Berthe D (1987), Influence of surface waviness and roughness on the normal pressure distribution in the hertzian contact. ASME J. of Tribology 109:462-470.