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

Noorbakhsh, Mahvash; Yazdizadeh, Alireza

doi:10.1109/icca.2010.5524408

Cited by 6 publications

(10 citation statements)

References 6 publications

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“…In contrast to the standard definition of the signum function used in other works [2]- [10], this definition ensures an adequate compensation action, even at zero velocity. The problem with the standard definition of the signum function is that it is zero for zero velocity, regardless of u c (t) acting on the system.…”

Section: (3)mentioning

confidence: 93%

“…Moreover, most mechanical systems suffer from positiondependent friction, which cannot be easily included in the available friction models. This newly proposed method, which is an improved form of the methods proposed in [8], [9] and [10], overcomes the limitations for zero-velocity tracking as outlined above. The main contribution lays in the introduction of a physically realistic form of the signum function and the analysis of the resulting closed-loop stability.…”

Section: Introductionmentioning

confidence: 99%

“…Most of them are based on a friction model, for example on the simple Coulomb model [2]- [10], or on the more sophisticated LuGre model [11]- [13]. Such models approximate the behavior of the friction force with varying accuracy and complexity.…”

Section: Introductionmentioning

confidence: 99%

“…Generally, the model complexity grows when models get more representative, requiring more extensive parameter estimation. To avoid the complicated estimation problem associated with these parameters, much research has been done on compensation methods that rely on the relatively simple Coulomb friction model [2]- [6], [8]- [10], [20], [21]. In the approach of [2], an observer is used for the on-line identification of the Coulomb friction coefficient.…”

Section: Introductionmentioning

confidence: 99%

“…Later, situations have been considered in which the friction force is periodic with respect to position [9]. Recently, a compensation method has been proposed that allows the friction to be generally timevarying [10]. This method is in essence similar to the one proposed in [22].…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Friction Compensation: A Globally Stable Approach

Verbert

Tóth

Babuška

2015

IEEE/ASME Trans. Mechatron.

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Abstract-In this paper, an adaptive friction compensation scheme is proposed. The friction force is computed as a timevarying friction coefficient multiplied by the sign of the velocity and an on-line update law is designed to estimate this coefficient based on the actual position and velocity errors. Furthermore, a modified signum function definition is proposed to better capture the behavior of friction over varying velocity profiles than the signum function commonly used in friction models. The properties of the closed-loop behavior of the proposed scheme are analyzed and stability of the closed-loop system is proven. Simulations and real-world experimental results are provided to confirm the theoretical findings: the compensator is able to eliminate steady-state errors, significantly decrease the stick-slip effect and compensate even rapidly varying friction forces.

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Section: (3)mentioning

confidence: 93%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Adaptive Friction Compensation: A Globally Stable Approach

Verbert

Tóth

Babuška

2015

IEEE/ASME Trans. Mechatron.

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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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