頁籤選單縮合
題 名 | Adaptive Trajectory Control and Dynamic Friction Compensation for a Flexible-Link Robot |
---|---|
作 者 | Erfanian, Vahid; Kabganian, Mansour; | 書刊名 | Journal of Mechanics |
卷 期 | 26:2 2010.06[民99.06] |
頁 次 | 頁205-217 |
分類號 | 448.942 |
關鍵詞 | Flexible robotic arm; Adaptive control; Friction compensation; Distributed parameter; Sliding surface; Dual observer; |
語 文 | 英文(English) |
英文摘要 | Friction compensation techniques are studied for control of a flexible-link robot based on the LuGre friction model. To overcome the problem of uncertain parameters in the friction model, adaptive control schemes are used for two different types of parametric uncertainties. A novel dual-observer technique is proposed to estimate the internal state inside the friction model. A distributed-parameter dynamic model is used for the flexible arm to design the controllers. The Lyapunov stability theorem is used to guarantee the global asymptotic stability of the controllers. The performance of position tracking and link vibration attenuation is verified through experimental results. The results also confirm the effectiveness of the proposed friction compensation schemes. |
本系統中英文摘要資訊取自各篇刊載內容。