Robust adaptive friction compensation for tracking control of robot manipulators

DOI10.1109/9.887661zbMath0989.93061OpenAlexW2169723076WikidataQ56419602 ScholiaQ56419602MaRDI QIDQ2730305

Patrizio Tomei

Publication date: 5 August 2001

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.887661

zbMATH Keywords

disturbance attenuationrobust adaptive controldynamic frictionrobotic manipulators

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

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Adaptive nonlinear tire-road friction force estimation for vehicular systems based on a novel differentiable friction model ⋮ Adaptive backstepping trajectory tracking control of robot manipulator ⋮ Robust neural network control of robotic manipulators via switching strategy ⋮ Adaptive friction compensation for a class of mechanical systems based on LuGre model ⋮ Adaptive robust control of mechanical systems with non-linear dynamic friction compensation ⋮ Robustness of PID-controlled manipulators \textit{vis-à-vis} actuator dynamics and external disturbances ⋮ Adaptive estimation of friction forces with differential filter ⋮ Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators

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