Adaptive friction compensation based on the Lyapunov scheme

Author

Khorasani, K.

fYear

1996

fDate

15-18 Sep 1996

Firstpage

1060

Lastpage

1065

Abstract

A simple method for constructing a nonlinear estimator for adaptive friction compensation is developed. The design is based on the Lyapunov technique and an attempt is made to compensate for frictional force by estimating the unknown Coulomb friction coefficient. The contribution of this paper is to provide a systematic procedure for selecting a nonlinear function in the estimator. It is shown that asymptotic stability of the error dynamics is guaranteed without imposing a constraint on the velocity. Simulation results confirm the advantages of the proposed method for a single-mass nonlinear system as well as a complicated nonlinear system such as a two-link planar rigid robot manipulator

Keywords

Lyapunov methods; adaptive control; asymptotic stability; compensation; force control; friction; nonlinear systems; observers; robot dynamics; Coulomb friction coefficient; Lyapunov method; adaptive friction compensation; asymptotic stability; error dynamics; force control; nonlinear estimator; observer; single-mass nonlinear system; two-link planar rigid robot; Adaptive control; Asymptotic stability; Control nonlinearities; Control systems; Friction; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Parameter estimation; Resonance light scattering;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on

Conference_Location

Dearborn, MI

Print_ISBN

0-7803-2975-9

Type

conf

DOI

10.1109/CCA.1996.559070

Filename

559070