...Chao Ren; Yutong Ding; Xiaohan Li; Xinshan Zhu; Shugen Ma This paper presents an extended state observer (ESO) based robust friction compensation scheme for trajectory tracking control of a three-wheeled omnidirectional mobile robot. The proposed approach is practical in implementation...

...Xingjian Wang; Shaoping Wang LuGre dynamic friction model has been widely used in servo system for friction compensation, but it increases the difficulty of controller design because its parameters are difficult to be identified and its internal state is immeasurable. This paper presents...

... and friction compensation. The adaptation law is derived using a Lyapunov approach. Simulation results using the proposed controller are compared to those using a nonadaptive feedback linearizing controller as well as a proportional-integral-derivative (PID) controller, in the presence of torque load...

.... It is shown that hub friction increases with the applied force with the end-point force exhibiting significant hysteresis behavior. A friction model is presented for capturing these phenomena and compared with the widely used LuGre friction model. Effectiveness of the proposed model for friction compensation...

... the former method the knowledge of the unknown part is not used in design implementation of the fast control component. Because the neural network weights are updated adaptively the gray-box friction compensation method is applicable even when the friction functions change with time. Moreover, due...

..., MEASUREMENT, AND CONTROL . Manuscript received by the Dynamic Systems and Control Division March 1, 2000. Associate Technical Editors: E. Misawa and V. Utkin. 01 March 2000 friction compensation force feedback haptic interfaces telerobotics manipulators virtual reality variable...