DocumentCode
700770
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
fYear
1997
fDate
1-7 July 1997
Firstpage
2017
Lastpage
2022
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 1997 European
Conference_Location
Brussels
Print_ISBN
978-3-9524269-0-6
Type
conf
Filename
7082401
Link To Document