Adaptive Friction Compensation for Mechanical Systems with Unknown Deadzone
Friction exists in a wide range of physical systems. On the other hand, deadzone hysteresis nonlinearities seem inevitable in practice especially in mechanical system. In this paper, a class of mechanical systems with dynamic friction and unknown deadzone hysteresis are considered . A state feedback control scheme is proposed by using backstepping techniques. In this control scheme, an approximation of deadzone model is constructed and we use a linear part and a bounded part to approximate hysteresis input. The stability of closed-loop system and output tracking performance can be ensured by this control law and update laws of unknown parameters and the upper bound of external disturbance.
Xingui He, Ertian Hua, Yun Lin and Xiaozhu Liu
J. P. Cai and Y. J. Zhang, "Adaptive Friction Compensation for Mechanical Systems with Unknown Deadzone", Applied Mechanics and Materials, Vols. 88-89, pp. 652-656, 2011