Adaptive Compensator of Single State Elastoplastic Friction Model

A. A. Abouelsoud, Department of Electronics and Communications Engineering, Faculty of Engineering, Cairo University, Egypt
J. Abdo, Department of Mechanical and Industerial Engineering, College of Engineering, Sultan Qaboos University, P.O. Box 33, Postal Code 123, Al-Khoud, Muscat, Oman
R. Zaier, Department of Mechanical and Industerial Engineering, College of Engineering, Sultan Qaboos University, P.O. Box 33, Postal Code 123, Al-Khoud, Muscat, Oman

Abstract

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.

Recommended Citation

Abouelsoud, A. A.; Abdo, J.; and Zaier, R. (2011) "Adaptive Compensator of Single State Elastoplastic Friction Model," The Journal of Engineering Research: Vol. 8: Iss. 2, Article 1.
DOI: https://doi.org/10.24200/tjer.vol8iss2pp66-73