Title :
Time Periodical Adaptive Friction Compensation
Author :
Ahn, Hyo-Sung ; Chen, YangQuan
Author_Institution :
Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT
Abstract :
In this paper, the adaptive compensation of Coulomb friction is considered where the Coulomb friction coefficient is unknown but can be time-varying with a known period. Detailed stability analysis is given with some demonstrative simulation results. The major contributions of this paper is a periodic adaptive control law for friction compensation in nonlinear electromechanical systems not satisfying local and global Lipschitz condition
Keywords :
adaptive control; compensation; friction; nonlinear control systems; periodic control; servomechanisms; stability; tracking; Coulomb friction; friction compensation; nonlinear electromechanical system; periodic adaptive control; periodic learning; servomechanism; stability analysis; tracking control; Adaptive control; Control systems; Delay; Electromechanical systems; Error correction; Friction; Programmable control; Servomechanisms; Stability analysis; Time varying systems; Friction compensation; adaptive control; peri odic learning updating; servomechanism; tracking control;
Conference_Titel :
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
0-7803-8614-8
DOI :
10.1109/ROBIO.2004.1521805
