Lyapunov-Based Tracking Control in the Presence of Uncertain Nonlinear Parameterizable Friction

摘要: Modeling and compensation for friction effects has been a topic of considerable mainstream interest in motion control research. This is spawned from the fact that modeling nonlinear theoretically challenging problem, compensating controller practical ramifications. If system can be accurately modeled, there an improved potential to design controllers cancel effects; whereas, excessive steady-state tracking errors, oscillations, limit cycles result do not compensate friction. A developed this paper general Euler-Lagrange contains new continuously differentiable model with uncertain parameterizable terms. To achieve semi-global asymptotic result, recently integral feedback strategy used identify online, assuming exact knowledge remaining dynamics. Lyapunov-based stability analysis provided conclude identification results. Experimental results illustrate performance controller.