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Tracking Control of Mechanical Systems with Partially Known Friction ModelTracking Control of Mechanical Systems with Partially Known Friction Model
- Other Titles
- Tracking Control of Mechanical Systems with Partially Known Friction Model
- Authors
- 양현석; 홍범일; Martin C. Berg
- Issue Date
- 2002
- Publisher
- 제어·로봇·시스템학회
- Keywords
- adaptive control; mechanical systems with friction; bristle model; adaptive control; mechanical systems with friction; bristle model
- Citation
- International Journal of Control, Automation, and Systems, v.4, no.4, pp.311 - 318
- Volume
- 4
- Number
- 4
- Start Page
- 311
- End Page
- 318
- ISSN
- 1598-6446
- Abstract
- Two adaptive nonlinear friction compensation schemes are proposed for second-order nonlinear mechanical systems with apartially known nonlinear dynamic friction model to achieve asymptotic position and velocity tracking. The rst scheme has auxiliaryltered states so that a simple open-loop observer can be used. The second one has a dual-observer structure to estimate two differentSimulation results are utilized to show control performance and to demonstrate the convergence of the parameter estimates to their truevalues.
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Related Researcher
- Yang, Hyun Suk
- Engineering (Electronic & Electrical Engineering)