An adaptive friction compensator for global tracking in robot manipulators
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Publication:1129115
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)
disturbance rejection; tracking; adaptive controller; relay; robot manipulator; adaptive friction compensator
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
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
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