Adaptive backstepping control of flexible joint robots with friction compensation based on LuGre model

Author

Xuezhu Wang ; Hongyi Li ; Yuechao Wang ; Jianning Hua

Author_Institution

Univ. of Chinese Acad. of Sci., Beijing, China

fYear

2014

fDate

May 31 2014-June 2 2014

Firstpage

1484

Lastpage

1489

Abstract

Flexibility, parameter uncertainty and joint friction restrict the control performance of flexible joint robots. In this paper, an adaptive backstepping method with friction compensation is presented for the control of flexible joint robots with parameter inaccuracies, in which the joint friction is described by LuGre model and compensated base on a friction observer, and the inaccuracies of robot parameters are resolved by adaptive parameters estimation. Simulation verifies the effectiveness of the friction compensation method, and shows the proposed controller could achieve good control performance with model inaccuracies.

Keywords

adaptive control; control system synthesis; robots; uncertain systems; LuGre model; adaptive backstepping control; adaptive parameters estimation; flexible joint robots; friction compensation; friction observer; joint friction; parameter uncertainty; Decision support systems; Trajectory; Adaptive Control; Backstepping; Flexible Joint Robots; LuGre Friction;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (2014 CCDC), The 26th Chinese

Conference_Location

Changsha

Print_ISBN

978-1-4799-3707-3

Type

conf

DOI

10.1109/CCDC.2014.6852401

Filename

6852401