Decomposition-based friction compensation of mechanical systems

Mechatronics

Volumn 12, Issue 5, 2002, Pages 755-769

  Liu, G ^a  

^a RYERSON UNIVERSITY   (Canada)

Author keywords

Adaptive control; Decomposition based control; Friction compensation; Friction modeling; Robust control

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; COMPUTER SIMULATION; DECOMPOSITION; FRICTION; LINEARIZATION; ROBUSTNESS (CONTROL SYSTEMS);

FRICTION COMPENSATION;

MECHATRONICS;

EID: 0036604267     PISSN: 09574158     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0957-4158(01)00010-1     Document Type: Article

References (11)

1. A survey of models, analysis tools and compensation methods for the control of machines with friction
2. A new model for control of systems with friction
3. Adaptive control techniques for friction compensation
4. An experimental comparison of robust control algorithms on a direct drive manipulator
5. Robust control of robot manipulators based on dynamics decomposition
6. Uncertainty decomposition-based robust control of robot manipulators
7. Comparative study of robust saturation control of robot manipulators: Analysis and experiments
8. Model-based compensation of friction in direct-drive robotic arms
9. On the adaptive control of robot manipulators
10. On the robust control of robot manipulators
11. Tracking control of mechanical systems in the presence of nonlinear dynamic friction effects