A Lyapunov-based adaptive friction comensation

バージョン 1.0.0 (28.6 KB) 作成者: Shayan Sepahvand

A new method for adaptive friction compensation is implemented on a complicated two-link planar robot manipulator.

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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.

引用

Shayan Sepahvand (2023). 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 June 1、2023.

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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lors_are_warrior4_2016a.slx

バージョン	公開済み	リリースノート
1.0.0	2021/9/22		ダウンロード

MLA	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.
APA	Yazdizadeh, A., & Khorasani, K. (n.d.). Adaptive friction compensation using a Lyapunov-based design scheme. In Proceedings of 35th IEEE Conference on Decision and Control. IEEE. Retrieved from https://doi.org/10.1109%2Fcdc.1996.573545
BibTeX	@inproceedings{Yazdizadeh, doi = {10.1109/cdc.1996.573545}, url = {https://doi.org/10.1109%2Fcdc.1996.573545}, publisher = {{IEEE}}, author = {A. Yazdizadeh and K. Khorasani}, title = {Adaptive friction compensation using a Lyapunov-based design scheme}, booktitle = {Proceedings of 35th {IEEE} Conference on Decision and Control} }