Paper Titles
The Preliminary Research on Health Management of Stratospheric Airship
p.632
FEM Simulation of Anisotropic Parameters Influencing the Earing in Sheet Metal Deep Drawing Process
p.638
Simulation Analysis on a Special Air-Heating Collector
p.642
Research on Bending Fatigue of Cylindrical Gear Based on ANSYS Workbench
p.647
Adaptive Friction Compensation for Mechanical Systems with Unknown Deadzone
p.652
Dynamic Modelling and Simulation of Pneumatic Actuators
p.657
Simulation of Responses of Liquid Filled Double Bottom Structures Subjected to a Closely Underwater Explosion Shock Loading
p.662
An Experiment-Based Comparative Study between Mechanical Testing and Artificial Testing for Putonghua Proficiency Test
p.668
Study on Dynamic Mechanical Response of TC21 Alloy
p.674

Adaptive Friction Compensation for Mechanical Systems with Unknown Deadzone

Article Preview

Abstract:

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.

You might also be interested in these eBooks
Computer-Aided Design, Manufacturing, Modeling and Simulation View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 88-89)

Pages:

652-656

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.88-89.652

Citation:

Cite this paper

Online since:

August 2011

Authors:

Jian Ping Cai, Yi Jun Zhang

Keywords:

Adaptive Control, Hysteresis, Nonlinear System, Unknown Friction

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

© 2011 Trans Tech Publications Ltd. All Rights Reserved

Share:

Citation:

References

[1] G. Tao and P. V. Kokotovic, Adaptive Control of Systems with Actuatorand Sensor Nonlinearities, Wiley: New York, (1996).

Google Scholar

[2] Y. Tan, I. Kanellakopoulos, Adaptive non-linear friction compensation with parametric uncertainties, , Proceedings of the 1999 American Control Conference, 1999，pp.2511-2515.

Google Scholar

[3] L. Xu, B. Yao, Adaptive robust control of mechanical systems with non-linear dynamic friction compensation, , International Journal of Control, Vol. 81, 2008, pp.167-176.

DOI: 10.1080/00207170701390132

Google Scholar

[4] S. Sankaranarayanan, F. Khorrami, Adaptive variable structure control and application to friction compensation, , Proceedings of the 1997 IEEE Conference on Decision and Control, 1997, pp.4159-4164.

DOI: 10.1109/cdc.1997.649485

Google Scholar

[5] P. Tomei, Robust adaptive friction compensation for tracking control of robot manipulators, , IEEE Transaction on Automatic Control, Vol. 45, 2000, p.2164–2169.

DOI: 10.1109/9.887661

Google Scholar

[6] P. Vedagarbha, J.M. Dawson, M. Feemster, Tracking control of mechanical systems in the presence of nonlinear dynamic friction effects, IEEE Transaction on Automatic Control, Vol. 7, 1999, p.446–456.

DOI: 10.1109/87.772160

Google Scholar

[7] C. Canudas de Wit, H. Olsson et al., A new model for control of systems with friction, IEEE Transaction on Automatic Control, Vol. 40, 1995, p.419–425.

DOI: 10.1109/9.376053

Google Scholar