This work presents a robust adaptive controller for a linear motor stage that can be subjected to variations in the transported mass and to the expected changes in friction force. The adaptive feedback friction compensation is based on the Generalized Maxwell-Slip (GMS) model, which is transformed first to a more convenient form for adaptive control. Lyapunov stability results are given, taking into consideration the switching dynamics associated to the GMS model. Finally, the proposed controller is tested on an experimental setup, showing its capability to maintain tracking performance for variations in mass, in contrast to a non-adaptive robust controller also with feedback GMS friction compensation, developed in a previous work.
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