Adaptive robust control of mechanical systems with

Adaptive robust control of mechanical systems with nonlinear dynamic friction compensation

期刊名称： International Journal of Control

作者： Xu, L.,Yao, B.

年份： 2008年

文苑网期号：第2期

关键词： Theoretical or Mathematical/ adaptive control; compensation; control nonlinearities; friction; mechanical variables control; robust control; uncertain systems/ adaptive robust control; mechanical systems; nonlinear dynamic汽车下乡信息管理系统

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friction compensation; dynamic friction effects; parametric uncertainties;

uncertain nonlinearities; external disturbances; modelling errors; deterministic robust control; robust adaptive control; dynamic friction model/ C3120F

Mechanical variables control C1340E Self-adjusting control systems C1320扬州大学

Stability in control theory C1340K Nonlinear control systems E2200 Mechanical components, systems and devices E2140 Tribology (mechanical engineering)

摘要：In this paper, an adaptive robust control (ARC) scheme based friction compensation strategy is presented for a mechanical system in the presence of dynamic friction effects. The system may be subjected to both parametric uncertainties (e.g., unknown parameters in the dynamic friction model) and uncertain non-linearities such as external disturbances and modelling errors. In contrast to existing deterministic robust control (DRC) and robust adaptive control (AC) schemes, the proposed ARC scheme utilizes both the structural information of the dynamic friction model and the a priori information of the system, such as the bounds on the parameters and unmeasured internal friction state. In particular, the bounds on the friction state are fully exploited to construct certain projection-type modifications to the state observers. By doing so, a...

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