Title :
Output trajectory tracking for mechanical systems with dry friction: A DPC approach
Author :
von Wissel, D. ; Nikoukhah, R. ; Delebecque, F. ; Bliman, P.-A. ; Soline, M.
Author_Institution :
INRIA, Le Chesnay, France
Abstract :
It is shown how dry friction models can be incorporated into the design of a output trajectory tracking controller. The control is obtained by a numerical procedure which allows to computed the control based on the complete model. The approach is illustrated through the example of a flexible joint robot with joint friction.
Keywords :
compensation; control system synthesis; force control; friction; predictive control; robots; trajectory control; DPC; descriptor predictive control; dry friction compensation; flexible joint robot; mechanical system; output trajectory tracking controller design; Computational modeling; Friction; Joints; Mathematical model; Predictive control; Robots; Trajectory; dry friction compensation; predictive control; robotics;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
