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Journal of Applied Sciences
  Year: 2009 | Volume: 9 | Issue: 9 | Page No.: 1668-1676
DOI: 10.3923/jas.2009.1668.1676
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A New Lyapunov-Based Design Scheme for Adaptive Friction Compensation

A. Yazdizadeh, S.M. Noorbakhsh and R. Barzamini

A new method for adaptive friction compensation in mechanical control systems is developed. The design is based on Lyapunov technique and attempts to compensate for frictional force by estimating the unknown Coulomb friction coefficient. The contribution of this paper is to generalize the Friedland and Park’s method and show that it is possible to include their scheme as a special case of the proposed method. More specifically, it is shown that for asymptotic stability of the error dynamics the constraint on the velocity is removed in both cases of time varying (without any constraint on frequency) and time invariant friction coefficient. Furthermore, an analytical procedure is developed for designing a general nonlinear friction estimator. Simulation results confirm the advantages of the proposed methods for a simple single-mass system as well as a more complicated system such as a two-link planar rigid robot manipulator.
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How to cite this article:

A. Yazdizadeh, S.M. Noorbakhsh and R. Barzamini, 2009. A New Lyapunov-Based Design Scheme for Adaptive Friction Compensation. Journal of Applied Sciences, 9: 1668-1676.

DOI: 10.3923/jas.2009.1668.1676






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