Adaptive Compensator of Single State Elastoplastic Friction Model

The Journal of Engineering Research

A. A. Abouelsoud¹  R. Zaier²  J. Abdo² 

[1] Department of Electronics and Communications Engineering, Faculty of Engineering, Cairo University, Egypt;Department of Mechanical and Industerial Engineering, College of Engineering, Sultan Qaboos University, P.O. Box 33, Postal Code 123, Al-Khoud, Muscat, Oman;

关键词: adaptive compensator, elastoplastic friction model, lyapunov second method;   

DOI  :  10.24200/tjer.vol8iss2pp66-73

来源: DOAJ

【 摘 要 】

A nonlinear friction is an unavoidable phenomenon frequently experienced in mechanical system between two contact surfaces. An adaptive compensator is designed to achieve tracking of a desired velocity trajectory in the presence of friction force described by a single state elastoplastic friction model. The adaptive compensator includes an adaptive observer and a computed force controller. The closed loop system is shown to be stable using Lyapunov second method. Simulation results show the effectiveness of the proposed compensator.

【 授权许可】

Unknown