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.
Keywords
Publication details
- DOI
- 10.24200/tjer.vol8iss2pp66-73
- Journal
- The Journal of Engineering Research, 8(2), 66
- Publisher
- Sultan Qaboos University
- Open access
- Gold open access
- License
- CC BY 4.0
Cite this article
APA 7
Abouelsoud, A. A., Abdo, J., & Zaier, R. (2011). Adaptive Compensator of Single State Elastoplastic Friction Model. The Journal of Engineering Research, 8(2), 66. https://doi.org/10.24200/tjer.vol8iss2pp66-73
MLA 9
Abouelsoud, Ahmed Ali, et al. "Adaptive Compensator of Single State Elastoplastic Friction Model." The Journal of Engineering Research, vol. 8, no. 2, 2011, pp. 66. https://doi.org/10.24200/tjer.vol8iss2pp66-73.
Chicago (author–date)
Abouelsoud, Ahmed Ali, Jamil Abdo, and Riadh Zaier. 2011. "Adaptive Compensator of Single State Elastoplastic Friction Model." The Journal of Engineering Research 8 (2): 66. https://doi.org/10.24200/tjer.vol8iss2pp66-73.
Harvard
Abouelsoud, A. A., Abdo, J. and Zaier, R. (2011) 'Adaptive Compensator of Single State Elastoplastic Friction Model', The Journal of Engineering Research, 8(2), pp. 66. doi:10.24200/tjer.vol8iss2pp66-73.
Vancouver
Abouelsoud AA, Abdo J, Zaier R. Adaptive Compensator of Single State Elastoplastic Friction Model. The Journal of Engineering Research. 2011;8(2):66. doi:10.24200/tjer.vol8iss2pp66-73
IEEE
A. A. Abouelsoud, J. Abdo, and R. Zaier, "Adaptive Compensator of Single State Elastoplastic Friction Model," The Journal of Engineering Research, vol. 8, no. 2, pp. 66, 2011, doi: 10.24200/tjer.vol8iss2pp66-73.