Adaptive friction compensation for synchronous force control of dual-servo riveting systems with high-energy nonlinear disturbance

Adaptive friction compensation for synchronous force control of dual-servo riveting systems with high-energy nonlinear disturbance | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Adaptive friction compensation for synchronous force control of dual-servo riveting systems with high-energy nonlinear disturbance Zhichao Sun, Gongping Liu, Guoqing Cai, Zemin Pan, Libin Wang, and 1 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6718017/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 26 Aug, 2025 Read the published version in Nonlinear Dynamics → Version 1 posted 9 You are reading this latest preprint version Abstract In the aircraft industry, dual-servo riveting systems (DSRSs) face significant challenges in achieving high-performance synchronous force control due to nonlinear time-varying contact dynamics and complex friction disturbances. This paper proposes a novel synchronous force control architecture that integrates adaptive friction compensation (SFCwF) with nonlinear disturbance rejection to address these challenges. For the high-energy nonlinear loads generated during riveting process, the distributed friction characteristics of the DSRS ball screw powertrain are analyzed using Hertz contact theory, and a parametric friction model is subsequently established. To address parameter perturbations in the friction model induced by nonlinear loads, a dual-observer structure is designed based on the LuGre model to manage parametric uncertainties. Furthermore, a nonlinear disturbance observer (NDOB) is designed to mitigate unknown disturbances without requiring acceleration measurements. The Lyapunov theory analysis demonstrates that the proposed control approach guarantees asymptotic stability of the closed-loop system, with both tracking and synchronization errors converging to zero, even in the presence of parametric uncertainties. Experimental validations on a custom-designed DSRS platform indicate that the proposed strategy achieves not only superior synchronous force control performance but also consistent riveting quality, with deviations of ±0.06 mm in driven head height, ±0.075 mm in driven head diameter, and a sheet waviness of ±0.116mm, all of which significantly exceed acceptable quality thresholds. Nonlinear disturbance synchronous force control adaptive friction compensation LuGre model servo riveting technology Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 26 Aug, 2025 Read the published version in Nonlinear Dynamics → Version 1 posted Editorial decision: Revision requested 14 Jul, 2025 Reviews received at journal 10 Jul, 2025 Reviews received at journal 02 Jul, 2025 Reviewers agreed at journal 15 Jun, 2025 Reviewers agreed at journal 15 Jun, 2025 Reviewers invited by journal 15 Jun, 2025 Editor assigned by journal 02 Jun, 2025 Submission checks completed at journal 22 May, 2025 First submitted to journal 21 May, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6718017","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":472031438,"identity":"73612c25-834c-486e-8715-5b4c3310074b","order_by":0,"name":"Zhichao Sun","email":"","orcid":"","institution":"Zhejiang University","correspondingAuthor":false,"prefix":"","firstName":"Zhichao","middleName":"","lastName":"Sun","suffix":""},{"id":472031441,"identity":"add3822c-ac04-4d89-a430-4c81d9e5d980","order_by":1,"name":"Gongping Liu","email":"","orcid":"","institution":"AVIC Xi’an Aircraft Industry Group Company 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