Discontinuous piecewise parametric modeling and compensation control for manipulator systems with friction

Author

Lv Xiaohua ; Li Dongwu ; Ren Xuemei

Author_Institution

Sch. of Autom., Beijing Inst. of Technol., Beijing, China

fYear

2011

fDate

22-24 July 2011

Firstpage

506

Lastpage

511

Abstract

A novel compensation control based on intelligent modeling for joint friction in manipulator systems is proposed in this paper. The modeling algorithm exploits the discontinuous piecewise parametric representation (DPPR) as the estimator of generalized friction while the controller is a non-model feedforward compensator. The DPPR modeling captures the main characteristics of friction including Stribeck effect, discontinuous at zero, Coulomb and viscous friction. Dynamics knowledge of the plant is not required. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Simulation results show that the proposed controller performs well for a 3-link manipulator system.

Keywords

compensation; feedforward; friction; manipulators; parameter estimation; Coulomb; Lyapunov criterion; Stribeck effect; compensation control; discontinuous piecewise parametric modeling; discontinuous piecewise parametric representation; dynamics knowledge; intelligent modeling; joint friction; manipulator systems; nonmodel feedforward compensator; three-link manipulator system; viscous friction; Feedforward neural networks; Force; Friction; Joints; Manipulator dynamics; Torque; Discontinuous piecewise parametric representation; Feedforward compensation; Friction dynamics; Manipulator systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2011 30th Chinese

Conference_Location

Yantai

ISSN

1934-1768

Print_ISBN

978-1-4577-0677-6

Electronic_ISBN

1934-1768

Type

conf

Filename

6000959