Friction Compensation for Passive Systems Based on the LuGre Model
(2003) In IFAC Proceedings Volumes 36(2). p.159-164- Abstract
- The paper suggests a method for compensating the impact of friction for the control nonlinear systems, where the original controller (derived without taking into account friction) results from the passivity relation. The illustrative example is given.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/118308db-d534-4d13-a4ec-45eaa204b1c3
- author
- Shiriaev, Anton S. ; Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 2003
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- Friction compensation, Model-based control, LuGre model, Lyapunov functions
- in
- IFAC Proceedings Volumes
- volume
- 36
- issue
- 2
- pages
- 6 pages
- publisher
- Elsevier
- external identifiers
-
- scopus:84957640625
- DOI
- 10.1016/S1474-6670(17)38884-5
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- 118308db-d534-4d13-a4ec-45eaa204b1c3
- date added to LUP
- 2022-06-21 10:53:02
- date last changed
- 2023-04-05 17:42:04
@article{118308db-d534-4d13-a4ec-45eaa204b1c3, abstract = {{The paper suggests a method for compensating the impact of friction for the control nonlinear systems, where the original controller (derived without taking into account friction) results from the passivity relation. The illustrative example is given.}}, author = {{Shiriaev, Anton S. and Robertsson, Anders and Johansson, Rolf}}, keywords = {{Friction compensation; Model-based control; LuGre model; Lyapunov functions}}, language = {{eng}}, number = {{2}}, pages = {{159--164}}, publisher = {{Elsevier}}, series = {{IFAC Proceedings Volumes}}, title = {{Friction Compensation for Passive Systems Based on the LuGre Model}}, url = {{http://dx.doi.org/10.1016/S1474-6670(17)38884-5}}, doi = {{10.1016/S1474-6670(17)38884-5}}, volume = {{36}}, year = {{2003}}, }