Friction compensation strategy via smooth adaptive dynamic surface control

Aria Putra Maulana, Hiromitsu Ohmori, Akira Sano

Research output: Contribution to conferencePaper

32 Citations (Scopus)

Abstract

This paper is dealing with the development of friction compensation scheme for positional set-point regulation at DC motor servomechanism via smooth adaptive dynamic surface control design. The control scheme is built through backstepping procedure in which the change of coordinate is interpreted as sliding surface design. No exact knowledge of the friction model is required for the design of the controller. The global asymptotic stability for positional set-point regulation is achieved using Lyapunov's direct method. Computer simulation and position servo experiment will be presented to confirm the capability of the proposed design.

Original languageEnglish
Pages1090-1095
Number of pages6
Publication statusPublished - 1999 Dec 1
EventProceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD) - Kohala Coast, HI, USA
Duration: 1999 Aug 221999 Aug 27

Other

OtherProceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD)
CityKohala Coast, HI, USA
Period99/8/2299/8/27

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Maulana, A. P., Ohmori, H., & Sano, A. (1999). Friction compensation strategy via smooth adaptive dynamic surface control. 1090-1095. Paper presented at Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD), Kohala Coast, HI, USA, .