{"title":"Friction compensation strategy via smooth adaptive dynamic surface control","authors":"A. Maulana, H. Ohmori, A. Sano","doi":"10.1109/CCA.1999.801124","DOIUrl":null,"url":null,"abstract":"Deals with the development of a friction compensation scheme for positional set-point regulation of a DC motor servomechanism via smooth adaptive dynamic surface control design. The control scheme is built through a backstepping procedure in which the change of coordinate is interpreted as sliding surface design. No exact knowledge of the friction model is required for the design of the controller. The global asymptotic stability for positional set-point regulation is achieved using Lyapunov's direct method. Computer simulation and a position servo experiment are presented to confirm the capability of the proposed design.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"32","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCA.1999.801124","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 32
Abstract
Deals with the development of a friction compensation scheme for positional set-point regulation of a DC motor servomechanism via smooth adaptive dynamic surface control design. The control scheme is built through a backstepping procedure in which the change of coordinate is interpreted as sliding surface design. No exact knowledge of the friction model is required for the design of the controller. The global asymptotic stability for positional set-point regulation is achieved using Lyapunov's direct method. Computer simulation and a position servo experiment are presented to confirm the capability of the proposed design.
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