Title :
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
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;
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
DOI :
10.1109/ICIEA.2008.4582716
