Adaptive Friction Compensation for Mechanical Systems with Unknown Deadzone

Abstract:

Article Preview

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.

Info:

Periodical:

Edited by:

Xingui He, Ertian Hua, Yun Lin and Xiaozhu Liu

Pages:

652-656

DOI:

10.4028/www.scientific.net/AMM.88-89.652

Citation:

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

Online since:

August 2011

Export:

Price:

$35.00

In order to see related information, you need to Login.

In order to see related information, you need to Login.