Feedback linearization based adaptive friction compensation for a sandwich nonlinear system

Author

Taware, Avanash ; Pradhan, Nalesh ; Tao, Gang

Author_Institution

Dept. of Electr. & Comput. Eng., Virginia Univ., Charlottesville, VA, USA

Volume

1

fYear

2001

fDate

2001

Firstpage

588

Abstract

Control strategies are developed for a sandwich nonlinear system with joint flexibility, damping and friction. Ideal feedback linearization matching conditions are defined for the case when the system parameters are known. Adaptive feedback linearization is employed to get asymptotically exact cancellation for the uncertainty inherent in the knowledge of the given system parameters. Friction is estimated by a model and the linearizing control input is modified with the addition of a friction compensating term

Keywords

compensation; feedback; friction; linearisation techniques; nonlinear control systems; adaptive feedback linearization; adaptive friction compensation; asymptotically exact cancellation; damping; flexibility; friction estimation; linearizing control input; sandwich nonlinear system; system parameters; Adaptive control; Control systems; Damping; Friction; Linear feedback control systems; Linear systems; Nonlinear dynamical systems; Nonlinear systems; State feedback; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2001. Proceedings of the 2001

Conference_Location

Arlington, VA

ISSN

0743-1619

Print_ISBN

0-7803-6495-3

Type

conf

DOI

10.1109/ACC.2001.945610

Filename

945610