Adaptive Backstepping Control of Flexible Joint Robots with Friction Compensation Based on LuGre Model

摘要：

　　Flexibility,parameter uncertainty and joint friction restrict the control performance of flexible joint robots.In this paper,an adaptive backstepping method with friction compensation is presented for the control of flexible joint robots with parameter inaccuracies,in which the joint friction is described by LuGre model and compensated base on a friction observer,and the inaccuracies of robot parameters are resolved by adaptive parameters estimation.Simulation verifies the effectiveness of the friction compensation method,and shows the proposed controller could achieve good control performance with model inaccuracies.

关键词： Flexible Joint Robots Backstepping Adaptive Control LuGre Friction

作者: Xuezhu Wang Hongyi Li Yuechao Wang Jianning Hua

作者单位: University of Chinese Academy of Sciences,Beijing 100049,China;State Key Laboratory of Robotics,Shen State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenya Northeastern University,Shenyang 110004,China

会议类型: 国际会议

会议名称: 第26届中国控制与决策会议(2014 CCDC)

会议地点: 长沙

会议语种:英文

页码: 1484-1489

在线出版日期: 2014-05-31（万方平台首次上网日期，不代表论文的发表时间）