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Adaptive Friction Compensation of Servo Mechanisms With Nonlinear Viscous Friction

[+] Author Affiliations
Ziying Wu, Hongzhao Liu, Lilan Liu, Daning Yuan, Pengfei Li

Xi’an University of Technology, Xi’an, China

Paper No. WTC2005-63948, pp. 379-380; 2 pages
  • World Tribology Congress III
  • World Tribology Congress III, Volume 1
  • Washington, D.C., USA, September 12–16, 2005
  • Conference Sponsors: Tribology Division
  • ISBN: 0-7918-4201-0 | eISBN: 0-7918-3767-X
  • Copyright © 2005 by ASME


In this paper, a SDOF system with nonlinear viscous friction under harmonic excitation is studied. A nonlinear viscous friction model is built as an exponential expansion of the relative slip velocity. According to the adaptive control theory, an adaptive controller for the friction compensation of the SDOF system with nonlinear viscous friction is put forward by using the model-based parameterization techniques. The good performance of the proposed control scheme is illustrated through the computer simulation.

Copyright © 2005 by ASME



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