Adaptive compensator of single state elastoplastic friction model

Abstract EN

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.