Adaptive friction compensation in a Two-Link Planar Robot Manipulator using a new Lyapunov-based controller

In this paper, an approach for constructing a nonlinear estimator for adaptive compensation of the Coulomb friction in mechanical control systems is proposed where the Coulomb friction coefficient is unknown but its variation with time is bounded. A Two-Link Planar Robot Manipulator is considered as...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Noorbakhsh, M, Yazdizadeh, A
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Adaptive control Automatic control Control systems Friction Intelligent control Manipulators Nonlinear control systems Programmable control Robotics and automation Robots
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