4.7 Article

Robust adaptive friction compensation for tracking control of robot manipulators

期刊

IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 45, 期 11, 页码 2164-2169

出版社

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/9.887661

关键词

disturbance attenuation; dynamic friction; robotic manipulators; robust adaptive control

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The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. The authors design a robust adaptive control algorithm which guarantees arbitrary disturbance attenuation. If the disturbances belong to L-2, asymptotic tracking is also achieved.

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