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Friction Compensation for Passive Systems Based on the LuGre Model

Shiriaev, Anton; Robertsson, Anders LU and Johansson, Rolf LU (2003) In Lagrangian and Hamiltonian Methods for Nonlinear Control p.183-188
Abstract
The paper suggests a method for compensating the impact of friction for the control nonlinear systems, where the original controller (derived without taking friction into account) results from the passivity relation. Feedback from a friction observer is applied and the resulting closed-loop system preserves asymptotic stability. An illustrative example is given.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
Lagrangian and Hamiltonian Methods for Nonlinear Control
editor
Astolfi, A; Van Der Schaft, A and Gordillo, Francisco
pages
183 - 188
publisher
Elsevier
ISBN
0-08-044278-1
language
English
LU publication?
yes
id
1dca2e4c-2b9c-4066-b9b6-3494c5738552 (old id 536729)
date added to LUP
2007-09-25 10:42:31
date last changed
2016-09-23 15:15:41
@misc{1dca2e4c-2b9c-4066-b9b6-3494c5738552,
  abstract     = {The paper suggests a method for compensating the impact of friction for the control nonlinear systems, where the original controller (derived without taking friction into account) results from the passivity relation. Feedback from a friction observer is applied and the resulting closed-loop system preserves asymptotic stability. An illustrative example is given.},
  author       = {Shiriaev, Anton and Robertsson, Anders and Johansson, Rolf},
  editor       = {Astolfi, A and Van Der Schaft, A and Gordillo, Francisco},
  isbn         = {0-08-044278-1},
  language     = {eng},
  pages        = {183--188},
  publisher    = {ARRAY(0xb735910)},
  series       = {Lagrangian and Hamiltonian Methods for Nonlinear Control},
  title        = {Friction Compensation for Passive Systems Based on the LuGre Model},
  year         = {2003},
}