Friction Modelling and Robust Adaptive Compensation

Authors:	Marton Lorinc, Sapienta University, Romania Lantos Bela, Budapest University of Technology and Economics, Hungary
Topic:	4.2 Mechatronic Systems
Session:	Mechatronic Applications
Keywords:	Friction, Compensation, Adaptive Control, Lyapunov methods,Positioning Systems

Abstract

In this paper, a friction model is proposed which can easily be introducedin adaptive control algorithms. Based on the model, a robust adaptive frictioncompensation algorithm is developed for high precision positioning systems.It is shown that the proposed compensation scheme guarantees a prescribedaccuracy for trajectory tracking. The paper also presents experimental results todemonstrate the applicability of the proposed control algorithm.