Tracking Control of Mechanical Systems with Partially Known Friction Model

초록

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.

키워드