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Robust control of uncertain robotic systems: An adaptive friction compensation approach

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Abstract

This paper solves the robust control problem of robotic manipulator systems with uncertain dynamics by friction compensation approach. A weighting factor is introduced to distinguish the role of friction in control process by comparing the directions of sliding vector and friction. Utilizing the weighting factor, model-based and model-free adaptive friction compensation controllers are designed to achieve asymptotical tracking of the desired joint-space trajectory according to the knowledge of friction. The dam** property of friction is fully used to improve the control performance by compensating the friction harmful for the stability, and on the other hand, utilizing the beneficial friction. Numerical simulations are given to demonstrate the control performance of the proposed approach.

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Authors and Affiliations

  1. Department of Dynamics and Control, Beihang University, Bei**g, 100191, China

    QiShao Wang & QingYun Wang

  2. College of Engineering, Peking University, Bei**g, 100871, China

    Han Zhuang & ZhiSheng Duan

Authors
  1. QiShao Wang
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  2. Han Zhuang
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  3. ZhiSheng Duan
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  4. QingYun Wang
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Corresponding author

Correspondence to QingYun Wang.

Additional information

This work was supported by the National Natural Science Foundation of China (Grant Nos. 11932003, U1713223, 62003013 and 61673026), the National Key R&D Program of China (Grant No. 2018AAA0102703), and the China Postdoctoral Science Foundation (Grant Nos. BX20190025 and 2019M660405).

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Wang, Q., Zhuang, H., Duan, Z. et al. Robust control of uncertain robotic systems: An adaptive friction compensation approach. Sci. China Technol. Sci. 64, 1228–1237 (2021). https://doi.org/10.1007/s11431-020-1745-6

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  • DOI: https://doi.org/10.1007/s11431-020-1745-6

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