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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.
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author
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
friction compensation, velocity reconstruction, robotic systems, nonlinear observer
conference name
7th IFAC Symposium on Nonlinear Control Systems, 2007
external identifiers
  • Scopus:79960947316
language
English
LU publication?
yes
id
113bc0ef-4eac-4e2a-8b05-bbe8967f8aa2 (old id 1022984)
date added to LUP
2008-02-01 09:00:05
date last changed
2017-01-01 08:18:08
@misc{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},
  keyword      = {friction compensation,velocity reconstruction,robotic systems,nonlinear observer},
  language     = {eng},
  title        = {A Velocity Estimator relying on Friction Observers: Application to inverted pendulum stabilization},
  year         = {2007},
}