Adaptive control of flexible beam with friction in the hub

被引：0
|
作者：
Wang, XS [1 ]
机构：
[1] SE Univ, Dept Mech Engn, Nanjing 210096, Peoples R China
来源：
2005 INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA), VOLS 1 AND 2 | 2005年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper deals with the adaptive control of a exible beam system with considering the unknown friction in the driving motor in state space form. By introducing an important lemma and dual friction observers, a robust adaptive control scheme is developed by involving the dynamic friction compensation term. The new adaptive control law ensures global stability of the entire system and achieves desired tracking precision even when the frictions are totally unknown. Simulations performed on a typical exible beam system illustrate and clarify the validity of this approach.
引用
收藏
页码：628 / 633
页数：6
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