Compensating for nonlinear friction in robot systems

International Applied Mechanics

Volumn 32, Issue 5, 1996, Pages 384-388

  Larin, V B ^a  

^a S P TIMOSHENKO INSTITUTE OF MECHANICS   (Ukraine)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CONTROL THEORY; EIGENVALUES AND EIGENFUNCTIONS; EQUATIONS OF MOTION; FRICTION; MATRIX ALGEBRA; OPTIMIZATION; PERTURBATION TECHNIQUES; POSITION CONTROL; RICCATI EQUATIONS;

DRY FRICTION; NONLINEAR FRICTION;

ROBOTICS;

EID: 0030275255     PISSN: 10637095     EISSN: None     Source Type: Journal    
DOI: 10.1007/BF02091363     Document Type: Article

References (8)

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3. A. A. Andronov and A. G. Maier, "Von Mises problem in the theory of self-acting control and the theory of surface transformations," Dokl. Akad. Nauk SSSR, 43, No. 2, 58-62 (1944).
4. V. I. Utkin, Sliding Regimes and Their Use in Systems with a Variable Structure [in Russian], Nauka, Moscow (1974).
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7. V. B. Larin, "Optimization in a Hardy space and the problem of parameterizing regulators (survey)," Prikl. Mekh., 28, No. 2, 3-21 (1992).
8. C. Canudas de Wit, "Robust control for servo-mechanisms under inexact friction compensation," Automatica, 29, No. 3, 757-761 (1993).