A sliding-mode based smooth adaptive robust controller for friction compensation

DOI10.1002/(SICI)1099-1239(19980715)8:8%3C725::AID-RNC345%3E3.0.CO;2-DMaRDI QIDQ4212825zbMATH OpenOpenAlexFDO

Authors Gangbing Song, Lilong Cai, Yiping Wang, Richard W. Longman

Publication date 7 June 1999

Full work available at URL https://doi.org/10.1002/(sici)1099-1239(19980715)8:8%3C725::aid-rnc345%3E3.0.co;2-d

zbMATH Keywords

adaptive robust controlfeedforwardfrictionLyapunov's direct methodsliding-modestick-slip frictiontracking

Mathematics Subject Classification ID

Theories of friction (tribology) (74A55) Contact in solid mechanics (74M15) Variable structure systems (93B12) Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40) Adaptive or robust stabilization (93D21)

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• Adaptive barrier control for nonlinear servomechanisms with friction compensation
• Low-speed voltage-input tracking control of a DC-motor numerically modelled by a dynamical system with stick-slip friction
• Adaptive robust motion control of direct-drive DC motors with continuous friction compensation
• On the control of the friction force
• Adaptive Friction Compensation: Modular Design with Passive Identifier
• A continuous version of the LuGre friction model applied to the adaptive control of a pneumatic servo system
• scientific article; zbMATH DE number 987935 (Why is no real title available?)
• Adaptive backstepping output feedback control of DC motor actuator with friction and load uncertainty compensation
• Adaptive robust control of mechanical systems with non-linear dynamic friction compensation
• Design of a Disturbance Observer and Model-Based Friction Feedforward to Compensate Quadrant Glitches
• Anwendung von Kontroll-Störgrößenbeobachtern zur Regelung und zur Kompensation trockener Reibung
• Robust Nonlinear Stick-Slip Friction Compensation
• Integrated adaptive-robust control of robot manipulators
• Joint stick‐slip friction compensation of robot manipulators by using smooth robust controllers
• An exponentially stable adaptive friction compensator
• scientific article; zbMATH DE number 6863693 (Why is no real title available?)
• Adaptive terminal sliding mode control for servo systems with nonlinear compensation
• Robot joint friction compensation learning enhanced by 6D virtual sensor
• Adaptive friction compensation for a class of mechanical systems based on LuGre model
• Adaptive bearing friction compensation based on recent knowledge of dynamic friction
• Adaptive robust control of linear motors with dynamic friction compensation using modified LuGre model

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