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.
|出版ステータス||Published - 1999 12月 1|
|イベント||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|
継続期間: 1999 8月 22 → 1999 8月 27
|Other||Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD)|
|City||Kohala Coast, HI, USA|
|Period||99/8/22 → 99/8/27|
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