Adaptive control of flexible beam with friction in the hub

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.