Abstract
In this paper, the tracking problem is considered for robot manipulators in the presence of static friction, bounded disturbance, and modeling uncertainties. A composite tracking control strategy is proposed in which an adaptive friction estimation is used to estimate the extent of friction and a robust controller is then designed to enhance the overall stability and robustness. Performance issues of robust adaptive friction control are illustrated in simulation made for a two degree of freedom planar robot manipulator.
| Original language | English |
|---|---|
| Pages (from-to) | 3266-3271 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| Publication status | Published - 2003 Dec 9 |
| Event | 2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan Duration: 2003 Sept 14 → 2003 Sept 19 |
All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering