Title of article
Adaptive Compensator of Single State Elastoplastic Friction Model
Author/Authors
Abouelsoud, A. A. Cairo University - Faculty of Engineering - Department of Electronics and Communications Engineering, Egypt , Abdo, J. Sultan Qaboos University - College of Engineering - Department of Mechanical and Industerial Engineering, Oman , Zaier, R. Sultan Qaboos University - College of Engineering - Department of Mechanical and Industerial Engineering, Oman
From page
66
To page
73
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
Journal title
The Journal of Engineering Research (TJER)
Journal title
The Journal of Engineering Research (TJER)
Record number
2542525
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