Adaptive Robust Control of a Multi-Degree-of-Freedom Mechanical Plant with Friction Compensation

The article addresses the problem of robust adaptive control to design mechanical installations with multi degree-of-freedom (multi DOF) under conditions of uncertain parameters and functions that take into account friction, thereby reduces the nonlinear mathematical model of the installation with a cascading structure and affine parameterization involving a matrix of unknown parameters. The synthesis of a robust adaptive system with friction compensation is performed by the adaptive integrator bypass method, which applies to linearly parameterized (fine-tuned) nonlinear settings with respect to the matrix (vector) of unknown parameters. Research on friction compensation algorithm is performed using Matlab software (Simulink).