Adaptive backstepping control and friction compensation for AC servo with inertia and load uncertainties

An adaptive backstepping control with friction compensation scheme is presented. A third-order linear dynamic model is used for the ac motor control system design while the LuGre dynamic friction model with nonuniform friction force variations characterizes the-friction force. Nonlinear adaptive control laws are designed to compensate the unknown system parameters and disturbances: System robustness and asymptotic position tracking. performance. are shown through simulation and experimental results.