頁籤選單縮合
題名 | Tracking Control in the Presence of Nonlinear Dynamic Frictional Effects: Robot Extension= |
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作者 | Feemster,M.; Dawson,D. M.; Behal,A.; Dixon,W.; |
期刊 | Asian Journal of Control |
出版日期 | 19990900 |
卷期 | 1:3 1999.09[民88.09] |
頁次 | 頁153-168 |
分類號 | 448.942 |
語文 | eng |
關鍵詞 | Friction compensation; Nonlinear control; |
英文摘要 | In this paper, we extend the observer/ control strategies previously published in [25] to an n-link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers. |
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