An adaptive friction compensator for global tracking in robot manipulators

DOI10.1016/S0167-6911(97)00113-8zbMath0902.93048MaRDI QIDQ1129115

Elena Panteley, Romeo S. Ortega, Magnus Gäfvert

Publication date: 13 August 1998

Published in: Systems \& Control Letters (Search for Journal in Brave)

zbMATH Keywords

disturbance rejection; tracking; adaptive controller; relay; robot manipulator; adaptive friction compensator

Mathematics Subject Classification ID

93C40: Adaptive control/observation systems

93C73: Perturbations in control/observation systems

93C85: Automated systems (robots, etc.) in control theory

74M15: Contact in solid mechanics

74A55: Theories of friction (tribology)

Related Items

Robust impulsive control of motion systems with uncertain friction, Globally exponential controller/observer for tracking in robots without velocity measurement, A remark on passivity-based and discontinuous control of uncertain nonlinear systems, Semi-globally exponential tracking observer/controller for robots with joint hysteresis and without velocity measurement, Tracking observer/controller for a relatively large class of systems with hysteresis and without velocity measurement, Control of mechanical systems with Stribeck friction and backlash, Friction models and friction compensation, Tracking and disturbance rejection for fully actuated mechanical systems

Cites Work

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• A new model for control of systems with friction