Robust adaptive tracking control for servo mechanisms with continuous friction compensation. (June 2019)

• Record Type: Journal Article
• Authors: Wang, Shubo; Yu, Haisheng; Yu, Jinpeng
• Is Part Of: Control engineering practice. Volume 87(2019)
• Page Start: 76
• Page End: 82
• Publication Date: 2019-06
• Subjects: Servo mechanisms -- Adaptive control -- Friction compensation -- Robust integral of the sign of the error; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2019.03.020
• Languages: English
• ISSNs: 0967-0661

Abstract

Abstract: In this paper, a robust adaptive tracking control scheme is developed for servo mechanisms with nonlinear friction dynamics. A continuously differentiable friction model is used to capture the friction behaviors (e.g. Stribeck effect, Coulombic friction and Viscous friction). The robust integral of the sign of the error (RISE) feedback term is employed to design an innovative adaptive controller to compensate nonlinear friction and bounded disturbances. To reduce the effect of noise pollution, the desired trajectory is employed to replace the output signal in controller design. The developed adaptive controller can guarantee the asymptotic tracking performance for nonlinear servo mechanisms in the presence of nonlinear friction and bounded disturbances. Comparative experimental results are used to validate the effectiveness of the developed control algorithm.