A Velocity Estimator relying on Friction Observers: Application to inverted pendulum stabilization
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.
- Control Engineering
- friction compensation
- velocity reconstruction
- robotic systems
- nonlinear observer
7th IFAC Symposium on Nonlinear Control Systems, 2007