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Friction Compensation for Passive Systems Based on the LuGre Model

Författare:
Redaktör:
  • A Astolfi
  • A Van Der Schaft
  • Francisco Gordillo
Publiceringsår: 2003
Språk: Engelska
Sidor: 183-188
Publikation/Tidskrift/Serie: Lagrangian and Hamiltonian Methods for Nonlinear Control
Dokumenttyp: Konferensbidrag
Förlag: Elsevier

Sammanfattning

The paper suggests a method for compensating the impact of friction for the control nonlinear systems, where the original controller (derived without taking friction into account) results from the passivity relation. Feedback from a friction observer is applied and the resulting closed-loop system preserves asymptotic stability. An illustrative example is given.

Disputation

Nyckelord

  • Technology and Engineering

Övrigt

Published
Yes
  • ISBN: 0-08-044278-1

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