A Velocity Observer Based on Friction Adaptation
Lenain, Roland ; Robertsson, Anders LU ; Johansson, Rolf LU
; Shiriaev, Anton
and Berducat, Michel
(2008)
IEEE International Conference on Robotics and Automation, 2008
p.3365-3370
- Abstract
- Control of robotic systems subject to friction phenomena is an important issue since growing demands on accuracy require elimination of friction disturbances. If several modelse.g., friction model, rigid-body dynamicsare required to describe the behavior with high precision, each model requires the knowledge of numerous parameters (perhaps time-varying) as well as an increased number of signals and sensors. In order to tackle this double limitation, an observer is proposed, addressing both the problem of velocity reconstruction and friction estimation in the joint of an inverted pendulum. Firstly, an adaptive two-level velocity observer is defined to reconstruct relevant unmeasured velocities, using estimation of the friction model error.... (More)
- Control of robotic systems subject to friction phenomena is an important issue since growing demands on accuracy require elimination of friction disturbances. If several modelse.g., friction model, rigid-body dynamicsare required to describe the behavior with high precision, each model requires the knowledge of numerous parameters (perhaps time-varying) as well as an increased number of signals and sensors. In order to tackle this double limitation, an observer is proposed, addressing both the problem of velocity reconstruction and friction estimation in the joint of an inverted pendulum. Firstly, an adaptive two-level velocity observer is defined to reconstruct relevant unmeasured velocities, using estimation of the friction model error. Secondly, the observer is exploited for model-based friction compensation. Capabilities of the algorithm proposed are demonstrated by means of experiments on the Furuta pendulum. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1444529
- author
- Lenain, Roland
; Robertsson, Anders
LU
; Johansson, Rolf
LU
; Shiriaev, Anton
and Berducat, Michel
- organization
- publishing date
- 2008
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proc. 2008 IEEE International Conference on Robotics and Automation (ICRA2008)
- pages
- 3365 - 3370
- conference name
- IEEE International Conference on Robotics and Automation, 2008
- conference location
- Pasadena, CA, United States
- conference dates
- 2008-05-19 - 2008-05-23
- external identifiers
-
- scopus:51649085889
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- 643ed5f1-b9a1-4ac3-91ac-d7dd16bda7d2 (old id 1444529)
- date added to LUP
- 2016-04-04 14:01:05
- date last changed
- 2024-01-01 01:52:06
@inproceedings{643ed5f1-b9a1-4ac3-91ac-d7dd16bda7d2,
abstract = {{Control of robotic systems subject to friction phenomena is an important issue since growing demands on accuracy require elimination of friction disturbances. If several modelse.g., friction model, rigid-body dynamicsare required to describe the behavior with high precision, each model requires the knowledge of numerous parameters (perhaps time-varying) as well as an increased number of signals and sensors. In order to tackle this double limitation, an observer is proposed, addressing both the problem of velocity reconstruction and friction estimation in the joint of an inverted pendulum. Firstly, an adaptive two-level velocity observer is defined to reconstruct relevant unmeasured velocities, using estimation of the friction model error. Secondly, the observer is exploited for model-based friction compensation. Capabilities of the algorithm proposed are demonstrated by means of experiments on the Furuta pendulum.}},
author = {{Lenain, Roland and Robertsson, Anders and Johansson, Rolf and Shiriaev, Anton and Berducat, Michel}},
booktitle = {{Proc. 2008 IEEE International Conference on Robotics and Automation (ICRA2008)}},
language = {{eng}},
pages = {{3365--3370}},
title = {{A Velocity Observer Based on Friction Adaptation}},
year = {{2008}},
}