Adaptive backstepping control of flexible joint robots with friction compensation based on LuGre model

摘要

Flexibility, parameter uncertainty and joint friction restrict the control performance of flexible joint robots. In this paper, an adaptive backstepping method with friction compensation is presented for the control of flexible joint robots with parameter inaccuracies, in which the joint friction is described by LuGre model and compensated base on a friction observer, and the inaccuracies of robot parameters are resolved by adaptive parameters estimation. Simulation verifies the effectiveness of the friction compensation method, and shows the proposed controller could achieve good control performance with model inaccuracies.