Friction compensation in a controlled one-link robot using a reduced-order observer

IEEE Transactions on Control Systems Technology

Volumn 14, Issue 2, 2006, Pages 374-383

  Mallon, Niels ^a   van de Wouw, Nathan ^a   Putra, Devi ^b   Nijmeijer, Henk ^a  

^a EINDHOVEN UNIVERSITY OF TECHNOLOGY   (Netherlands)

^b Faculty of Engineering and Computing   (United Kingdom)

Author keywords

Asymptotic stsbility; Compensation; Discontinuities; Friction; Limit cycles; Observers; Switching systems

Indexed keywords

ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; MECHANICAL CONTROL EQUIPMENT; OBSERVABILITY; POSITION CONTROL; SWITCHING SYSTEMS; SYSTEM STABILITY;

DISCONTINUITIES; EXPONENTIAL STRIBECK CURVE; FRICTION COMPENSATION; LIMIT CYCLES; LIMIT CYCLING; NONZERO STEADY-STATE ERROR;

ROBOTICS;

EID: 33244480590     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2005.863674     Document Type: Article

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