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An Adaptive Friction Compensator for Global Tracking in Robot Manipulators

Panteley, Elena; Gäfvert, Magnus LU and Ortega, Romeo (1998) In Systems & Control Letters 33(5). p.307-313
Abstract
A novel adaptive friction compensator based on a dynamic model recently proposed in the literature is presented in this paper. The compensator ensures global position tracking when applied to an n degree of freedom robot manipulator perturbed by friction forces with only measurements of position and velocity, and all the system parameters (robot and friction model) unknown. Instrumental for the solution of the problem is the observation that friction compensation can be recasted as a disturbance rejection problem. The control signal is then designed in two steps, first a classical adaptive robot controller that (strictly) passifies the system, and then a relay-based outer-loop that rejects the disturbance.
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author
organization
publishing date
type
Contribution to journal
publication status
published
subject
in
Systems & Control Letters
volume
33
issue
5
pages
307 - 313
publisher
Elsevier
external identifiers
  • Scopus:0001672467
ISSN
0167-6911
language
English
LU publication?
yes
id
ff9844cb-053c-4f13-b804-4ebf0587a403 (old id 8497611)
date added to LUP
2015-12-26 16:10:01
date last changed
2016-10-13 05:00:35
@misc{ff9844cb-053c-4f13-b804-4ebf0587a403,
  abstract     = {A novel adaptive friction compensator based on a dynamic model recently proposed in the literature is presented in this paper. The compensator ensures global position tracking when applied to an n degree of freedom robot manipulator perturbed by friction forces with only measurements of position and velocity, and all the system parameters (robot and friction model) unknown. Instrumental for the solution of the problem is the observation that friction compensation can be recasted as a disturbance rejection problem. The control signal is then designed in two steps, first a classical adaptive robot controller that (strictly) passifies the system, and then a relay-based outer-loop that rejects the disturbance.},
  author       = {Panteley, Elena and Gäfvert, Magnus and Ortega, Romeo},
  issn         = {0167-6911},
  language     = {eng},
  number       = {5},
  pages        = {307--313},
  publisher    = {ARRAY(0xb8de8f8)},
  series       = {Systems & Control Letters},
  title        = {An Adaptive Friction Compensator for Global Tracking in Robot Manipulators},
  volume       = {33},
  year         = {1998},
}