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Friction Compensation for Passive Systems Based on the LuGre Model

Shiriaev, Anton S. ; Robertsson, Anders LU and Johansson, Rolf LU orcid (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:
author
; and
organization
publishing date
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}},
}