A Lyapunov-based adaptive friction comensation

A new method for adaptive friction compensation is implemented on a complicated two-link planar robot manipulator.
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更新 2021/9/22


This a simulation of a tracking control by employing a friction compensation method. It is investiagted by considering a two-link manipulator robot. To explain more, the paper cited below may be helpful.
1) Just run the simulink file.


Shayan Sepahvand (2024). A Lyapunov-based adaptive friction comensation (https://www.mathworks.com/matlabcentral/fileexchange/99664-a-lyapunov-based-adaptive-friction-comensation), MATLAB Central File Exchange. 取得済み .

Yazdizadeh, A., and K. Khorasani. “Adaptive Friction Compensation Using a Lyapunov-Based Design Scheme.” Proceedings of 35th IEEE Conference on Decision and Control, IEEE, doi:10.1109/cdc.1996.573545.

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