Joint position regulation of a class of underactuated mechanical systems affected by LuGre dynamic friction via the IDA-PBC method
Author:
Affiliation:
1. Tecnológico Nacional de México, Instituto Tecnológico de La Laguna, Torreón, Mexico
2. Tecnológico Nacional de México, Instituto Tecnológico de La Paz, La Paz, Mexico
Funder
CONACyT
TecNM
Publisher
Informa UK Limited
Subject
Computer Science Applications,Control and Systems Engineering
Link
https://www.tandfonline.com/doi/pdf/10.1080/00207179.2020.1857440
Reference32 articles.
1. Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
2. Adaptive backstepping output feedback control of DC motor actuator with friction and load uncertainty compensation
3. Block, J. & Spong, M. (1995). Mechanical design and control of the pendubot. In Proceedings of the 46th annual earthmoving industry conference, Peoria, IL, USA. https://doi.org/10.4271/951199
4. A new model for control of systems with friction
5. Passivity based control of under-actuated mechanical systems with nonlinear dynamic friction
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