Adaptive block compensation trajectory tracking control based on LuGre friction model
Aiming at the problems of modeling error and uncertain external disturbance in the multi-joint robot control model, an adaptive block compensation trajectory tracking controller based on LuGre friction model is proposed. Firstly, the algorithm divides the interference term of LuGre friction model in...
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2019-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881419873212 |