Advanced

A Velocity Estimator relying on Friction Observers: Application to inverted pendulum stabilization

Lenain, Roland ; Robertsson, Anders LU ; Johansson, Rolf LU ; Shiriaev, Anton and Berducat, Michel (2007) 7th IFAC Symposium on Nonlinear Control Systems, 2007
Abstract
This paper addresses the problem of velocity reconstruction of robotic systems with rigid-body dynamics subject to friction. The aim of this paper is to estimate the velocities in the joint of a robot as well as the friction interacting with these velocities. Confronted with friction phenomena interacting with velocity dynamics, we have developed a non-linear observer, partly model-based for estimation of velocity and compensation of friction.
Please use this url to cite or link to this publication:
author
; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
friction compensation, velocity reconstruction, robotic systems, nonlinear observer
host publication
Preprints 7th IFAC Symp. Nonlinear Control Systems (NOLCOS 2007)
conference name
7th IFAC Symposium on Nonlinear Control Systems, 2007
conference location
Pretoria, South Africa
conference dates
2007-08-22 - 2007-08-24
external identifiers
  • scopus:79960947316
project
LU Robotics Laboratory
language
English
LU publication?
yes
id
113bc0ef-4eac-4e2a-8b05-bbe8967f8aa2 (old id 1022984)
date added to LUP
2016-04-04 14:22:57
date last changed
2020-01-13 01:39:00
@inproceedings{113bc0ef-4eac-4e2a-8b05-bbe8967f8aa2,
  abstract     = {This paper addresses the problem of velocity reconstruction of robotic systems with rigid-body dynamics subject to friction. The aim of this paper is to estimate the velocities in the joint of a robot as well as the friction interacting with these velocities. Confronted with friction phenomena interacting with velocity dynamics, we have developed a non-linear observer, partly model-based for estimation of velocity and compensation of friction.},
  author       = {Lenain, Roland and Robertsson, Anders and Johansson, Rolf and Shiriaev, Anton and Berducat, Michel},
  booktitle    = {Preprints 7th IFAC Symp. Nonlinear Control Systems (NOLCOS 2007)},
  language     = {eng},
  title        = {A Velocity Estimator relying on Friction Observers: Application to inverted pendulum stabilization},
  url          = {https://lup.lub.lu.se/search/ws/files/62895161/8301646.pdf},
  year         = {2007},
}