非線形摩擦を考慮した回転運動体の適応制御

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  • Adaptive Control of Rotary System with Nonlinear Frictions.
  • ヒセンケイ マサツ オ コウリョシタ カイテンウン ドウタイ ノ テキオウ セ

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This paper is concerned with the design of a Model Reference Adaptive Control System (MRACS) for motion with unknown nonlinear frictions. From the control system viewpoint, the static friction and Coulomb friction are characterized by a nonlinear deadzone element and constant disturbance for the control input signal, respectively. Then, the MRACS for the nonlinear frictions is considered for a nonlinear system which is a cascade combination of an unknown deadzone block or disturbance and a linear dynamic block. In order to verify the validity of the theoretical results, the design method described above is applied to a servo system influenced by friction. Experimental results show the high performance of the constructed MRACS and the effectiveness of the proposed method.

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