[
    {
        "id": "osp-13355",
        "type": "article-journal",
        "title": "Adaptive Compensator of Single State Elastoplastic Friction Model",
        "author": [
            {
                "family": "Abouelsoud",
                "given": "Ahmed Ali"
            },
            {
                "family": "Abdo",
                "given": "Jamil"
            },
            {
                "family": "Zaier",
                "given": "Riadh"
            }
        ],
        "URL": "https://omanscience.com/ar/articles/adaptive-compensator-of-single-state-elastoplastic-friction-model",
        "language": "en",
        "issued": {
            "date-parts": [
                [
                    2011
                ]
            ]
        },
        "container-title": "The Journal of Engineering Research",
        "volume": "8",
        "issue": "2",
        "page": "66",
        "DOI": "10.24200/tjer.vol8iss2pp66-73",
        "publisher": "Sultan Qaboos University",
        "ISSN": "1726-6009",
        "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."
    }
]