TY - JOUR
T1 - An exponentially stable adaptive friction compensator
AU - Liao, Teh Lu
AU - Chien, Tsun I.
N1 - Funding Information:
Manuscript received October 15, 1998; revised May 12, 1999. Recommended by Associate Editor, O. Egeland. This work was supported in part by the National Science Council, Taiwan, R.O.C. under Grant NSC89-2213-E-006-102. The authors are with the Department of Engineering Science, National Cheng Kung University, Tainan, 701, Taiwan R.O.C. (e-mail: [email protected]). Publisher Item Identifier S 0018-9286(00)01082-5.
PY - 2000
Y1 - 2000
N2 - This note presents a novel adaptive compensation scheme for Coulomb friction in a servocontrol system. An adaptive observer for estimating the unknown Coulomb friction coefficient is also derived on the basis of the Lyapunov technique. In addition, a linearizing control law is developed to compensate for the friction force and obtain the tracking objective. The proposed adaptive compensation guarantees an exponential convergence for state errors and parameter error, and the adaptive schemes in [1] and [3] guarantee only an asymptotic (or stable) convergence. Simulation results demonstrate the effectiveness of the proposed method for a single-mass servocontrol system.
AB - This note presents a novel adaptive compensation scheme for Coulomb friction in a servocontrol system. An adaptive observer for estimating the unknown Coulomb friction coefficient is also derived on the basis of the Lyapunov technique. In addition, a linearizing control law is developed to compensate for the friction force and obtain the tracking objective. The proposed adaptive compensation guarantees an exponential convergence for state errors and parameter error, and the adaptive schemes in [1] and [3] guarantee only an asymptotic (or stable) convergence. Simulation results demonstrate the effectiveness of the proposed method for a single-mass servocontrol system.
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U2 - 10.1109/9.855565
DO - 10.1109/9.855565
M3 - Article
AN - SCOPUS:0034187945
SN - 0018-9286
VL - 45
SP - 977
EP - 980
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 5
ER -