Citation
T. Zhang et M. Guay, Comments on "an exponentially stable adaptive friction compensator", IEEE AUTO C, 46(11), 2001, pp. 1844-1845
Citations number
3
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
ISSN journal
00189286
→ ACNP
Volume
46
Issue
11
Year of publication
2001
Pages
1844 - 1845
Database
ISI
SICI code
0018-9286(200111)46:11<1844:CO"ESA>2.0.ZU;2-X
Abstract
This note points out a technique error in the above paper. It is shown that
without persistence excitation (PE) of the system signals, the estimated C
oulomb friction parameter cannot be guaranteed to converge to its true valu
e. An analysis is provided for the PE condition of parameter asymptotic con
vergence.