Journal of Applied Sciences1812-56541812-5662Asian Network for Scientific Information10.3923/jas.2009.1668.1676YazdizadehA.NoorbakhshS.M.BarzaminiR.9200999A 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.]]>Ahn, H.S. and Y. Chen,2004Ahn, H.S. and Y. Chen,2005Armstrong-Helouvry, B., P. Dupont and C.C. De-Wit,1994Craige, J.J.,1989Haessig, D.A. and B. Friedland,1991Friedland, B. and Y. Park,1992Friedland, B. and S. Mentzelopoulou,1993Friedland, B. and Y. Park,1991Friedland, B. and A. Mentzelopoulou,1992Gilbert, J.W. and G.C. Winstone,1974Hua-Xia, 1.Q., S.Y. Lim, H. Ang and M.T. Ming-Lim,2006Kelly, R., V. Santibanez and E. Gonzalez,2004Lee, S.W. and J.H. Kim,1995Liao, T. and T. Chien ,2000Shang, W., S. Cong and Y. Zhang,2008Suraneni S., I.N. Kar, O.V. Ramana-Murthy and R.K.P. Bhatt,2005Yazdizadeh, A. and K. Khorasani,1996Yazdizadeh, A. and K. Khorasani,1996De Wit, C.C. and L. Praly,2000