Distributed Adaptive Synchronization Control with Friction Compensation of Networked Lagrange Systems

In this paper, the problem of dynamic friction compensation of networked Lagrange system is considered to design the synchronization controller with better performance. LuGre friction model is introduced to obtain accurate description of friction. The tracking control algorithms for certain and uncertain parameters are provided. Control algorithm for certain parameters has lower computation load, while control algorithm for uncertain parameters has the capability of adapting changes by learning from the tracking error. Both control algorithms achieve synchronization rapidly. Simulations are given to show the effectiveness of the proposed tracking algorithm.