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
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)
