Adaptive compensator of single state elastoplastic friction model

A. A. Abouelsoud, J. Abdo*, R. Zaier

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


A nonlinear friction is an unavoidable phenomenon frequently experienced in mechanical system between two contact surfaces. An adaptive compensator is designed to achieve tracking of a desired velocity trajectory in the presence of friction force described by a single state elastoplastic friction model. The adaptive compensator includes an adaptive observer and a computed force controller. The closed loop system is shown to be stable using Lyapunov second method. Simulation results show the effectiveness of the proposed compensator.

Original languageEnglish
Pages (from-to)66-73
Number of pages8
JournalJournal of Engineering Research
Issue number2
Publication statusPublished - 2011


  • Adaptive compensator
  • Elastoplastic friction model
  • Lyapunov second method

ASJC Scopus subject areas

  • General Engineering


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