An exponentially stable adaptive friction compensator

Teh Lu Liao, Tsun I. Chien

研究成果: Article同行評審

59 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁(從 - 到)977-980
頁數4
期刊IEEE Transactions on Automatic Control
45
發行號5
DOIs
出版狀態Published - 2000

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 電腦科學應用
  • 電氣與電子工程

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