Adaptive backstepping control of flexible joint robots with friction compensation based on LuGre model

Wang, Xuezhu; Li, Hongyi; Wang, Yuechao; Hua, Jianning

doi:10.1109/ccdc.2014.6852401

Cited by 6 publications

(2 citation statements)

References 10 publications

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“…They used a temperature independent static model to describe friction that limits the systems to which the proposed controller may be applied. Wang et al developed an adaptive back stepping friction compensation and controller structure to control the robot manipulators with uncertain parameters and flexible joints, independent of temperature effects. Sanxiu and Shengtao proposed an adaptive tracking control approach with a static friction that is not a good choice in situations where temperature effects are of much importance.…”

Section: Introductionmentioning

confidence: 99%

Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions

Azizi

Yazdizadeh

2019

Adaptive Control & Signal

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Mechanical systems are always suffering from the effects of temperature dependent friction forces where the system is operated in a wide range of temperature.Temperature and its variation play an important role in friction force in mechanical systems. If it is not compensated, it will tend to unwanted consequences, including steady-state errors, limit cycling, and hunting. Therefore, it is necessary to take the temperature effects into account. This has been a strong motivation for the researchers to work on temperature effects on joint friction. In this paper, an adaptive compensation (control) scheme is proposed and applied to a 2-degree-of-freedom serial robot manipulator by taking the temperature effects into account on the joints friction. In the proposed control scheme, the temperature is not required to be sensed. In this paper, joint friction is described by LuGre dynamic model with temperature dependent parameters. These parameters are described by some functions with unknown temperature dependent terms. According to the mathematical and practical concepts, the temperature dependent friction is decomposed into a viscous term and a disturbance term. An adaptive controller is designed to compensate the friction effect and it is shown that the proposed controller relaxes the condition for a priori knowledge about the environment characteristics, including the upper and lower bounds of the environment temperature and the parameters of the functions, describing the temperature dependent joint frictions. The stability and convergence of the joint position and velocity are proved in the sense of Lyapunov and then the proposed method is confirmed by the simulations.

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Section: Introductionmentioning

confidence: 99%

Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions

Azizi

Yazdizadeh

2019

Adaptive Control & Signal

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“…2 An observer-based controller for flexible-joints robots has been developed, 3 in which the uncertainties related to motor dynamics are successfully estimated using a disturbance observer. In addition, many other approaches such as nonlinear adaptive control, 4 passivity-based control, 5 adaptive backstepping control, 6 global position-feedback-tracking control, 7 singular perturbation approach, 8 predictive control, 9 adaptive fuzzy approaches, 10 hierarchical sliding-mode control, 11 dynamic surface control, 12 and higher order differential feedback control 13 have been studied. It is worth noting that most of them have ignored the actuator dynamics in their design procedure.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fractional-order control of electrical flexible-joint robots: Theory and experiment

Izadbakhsh

Kheirkhahan

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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Real-time fractional-order control of electrically driven flexible-joint robots has been addressed in this article. An important contribution of this article is that the control law is designed based on the Fourier series that eliminates the need for computation of regressor matrix. Moreover, the nonlinear effects of actuator saturation are considered in the control law. The lumped uncertainty can be approximated using Fourier series with unknown coefficients. Then, the unknown coefficients are estimated using the adaptation law obtained in the stability analysis. The overall closed-loop system is proven to be robust and bounded-input bounded-output stable. In addition, it has been shown that the joint-position errors are uniformly bounded based on Lyapunov’s stability concept. The satisfactory performance of the proposed control scheme is verified by experimental results. To highlight the superiority of the proposed method, experimental results of two voltage-based controllers are also presented.

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A continuous version of the LuGre friction model applied to the adaptive control of a pneumatic servo system

Sobczyk

Gervini

Perondi

et al. 2016

Journal of the Franklin Institute

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Adaptive backstepping control of flexible joint robots with friction compensation based on LuGre model

Cited by 6 publications

References 10 publications

Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions

Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions

Adaptive fractional-order control of electrical flexible-joint robots: Theory and experiment

A continuous version of the LuGre friction model applied to the adaptive control of a pneumatic servo system

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