An adaptive friction compensator for global tracking in robot manipulators

DOI10.1016/S0167-6911(97)00113-8zbMath0902.93048OpenAlexW2009600600MaRDI QIDQ1129115

Elena Panteley, Magnus Gäfvert, Romeo S. Ortega

Publication date: 13 August 1998

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

Full work available at URL: https://doi.org/10.1016/s0167-6911(97)00113-8

zbMATH Keywords

disturbance rejectiontrackingadaptive controllerrelayrobot manipulatoradaptive friction compensator

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Contact in solid mechanics (74M15) Theories of friction (tribology) (74A55)

Related Items (11)

Tracking and disturbance rejection for fully actuated mechanical systems ⋮ Semi-globally exponential tracking observer/controller for robots with joint hysteresis and without velocity measurement ⋮ Robustness of PID-controlled manipulators \textit{vis-à-vis} actuator dynamics and external disturbances ⋮ Globally exponential controller/observer for tracking in robots without velocity measurement ⋮ Robust impulsive control of motion systems with uncertain friction ⋮ A remark on passivity-based and discontinuous control of uncertain nonlinear systems ⋮ 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 ⋮ Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions ⋮ Robust prescribed performance control for Euler-Lagrange systems with practically finite-time stability ⋮ Friction models and friction compensation

Cites Work

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• Adaptive motion control of rigid robots: A tutorial
• Adaptive nonlinear control without overparametrization
• A survey of models, analysis tools and compensation methods for the control of machines with friction
• Nonlinear adaptive control of permanent magnet step motors
• Comments on "Adaptive manipulator control: a case study" by J. Slotine and W. Li
• Comments on "A new model for control of systems with friction"
• A new model for control of systems with friction

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