Adaptive control of manipulator flexible-joint with friction compensation using LuGre model

Author

Xiaodong Zhang ; Qingxuan, Jia ; Hanxu, Sun ; Ming, Chu

Author_Institution

Univ. of Posts & Telecommun., Beijing

fYear

2008

fDate

3-5 June 2008

Firstpage

1234

Lastpage

1239

Abstract

This paper addressed the adaptive backstepping control of space flexible-joint manipulator with nonlinear friction compensation. LuGre dynamic friction model was adopted to characterize the friction forces and dual state observers were proposed to estimate the internal immeasurable state of LuGre model. Based on the estimated friction state, adaptive laws were designed to identify the unknown model parameters and the external disturbances. The system stability and asymptotic trajectory tracking performance were guaranteed by Lyapunov function and demonstrated by the simulation results.

Keywords

Lyapunov methods; adaptive control; manipulators; position control; stability; LuGre dynamic friction model; Lyapunov function; adaptive backstepping control; adaptive control; asymptotic trajectory tracking performance; dual state observers; friction compensation; space flexible-joint manipulator; Adaptive control; Asymptotic stability; Backstepping; Friction; Manipulator dynamics; Nonlinear dynamical systems; Observers; Programmable control; State estimation; Trajectory; Flexible-joint; LuGre friction model; Space Manipulator; adaptive; backstepping;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications, 2008. ICIEA 2008. 3rd IEEE Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-1717-9

Electronic_ISBN

978-1-4244-1718-6

Type

conf

DOI

10.1109/ICIEA.2008.4582716

Filename

4582716