Du är här

A Velocity Estimator relying on Friction Observers: Application to inverted pendulum stabilization

Publiceringsår: 2007
Språk: Engelska
Dokumenttyp: Konferensbidrag


This paper addresses the problem of velocity reconstruction of robotic
systems with rigid-body dynamics subject to friction. The aim of this paper is to estimate the velocities in the joint of a robot as well as the friction interacting with these velocities. Confronted with friction phenomena interacting with velocity dynamics, we have developed a non-linear observer, partly model-based for estimation of velocity and compensation of friction.



  • Technology and Engineering
  • friction compensation
  • velocity reconstruction
  • robotic systems
  • nonlinear observer


7th IFAC Symposium on Nonlinear Control Systems (NOLCOS'07)
Pretoria, South Africa

Box 117, 221 00 LUND
Telefon 046-222 00 00 (växel)
Telefax 046-222 47 20
lu [at] lu [dot] se


Fakturaadress: Box 188, 221 00 LUND
Organisationsnummer: 202100-3211
Om webbplatsen