Title :
Low velocity friction compensation
Author :
Du, Hongliu ; Nair, Satish S.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Missouri Univ., Columbia, MO, USA
fDate :
4/1/1998 12:00:00 AM
Abstract :
A model-free design methodology is reported for identification and stable adaptive control of a class of systems with state dependent parasitic effects such as friction. The methodology is constructive, incorporates modeling error bound information, and ensures stable and convergent performance. The identifier and control designs are applicable to a class of low-dimensional dynamic systems with the cited parasitic effects. Validation of the designs is provided using two hardware example cases
Keywords :
adaptive control; compensation; control system synthesis; feedforward neural nets; friction; identification; nonlinear control systems; stability; convergent performance; identification; low velocity friction compensation; low-dimensional dynamic systems; model-free design methodology; modeling error bound information; stable adaptive control; state dependent parasitic effects; Control design; Control nonlinearities; Convergence; Design methodology; Feedback; Friction; Hardware; Neural networks; Position control; Velocity control;
Journal_Title :
Control Systems, IEEE
