IEEE - Institute of Electrical and Electronics Engineers, Inc. - LMI-based design of robust gain-scheduling control for precise slow motion in a servodrive

IECON 2008 - 34th Annual Conference of IEEE Industrial Electronics Society

Author(s): L. Mostefai ; M. Denai ; Y. Hori
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2008
Conference Location: Orlando, FL, USA
Conference Date: 10 November 2008
Page(s): 2,557 - 2,561
ISBN (CD): 978-1-4244-1766-7
ISBN (Paper): 978-1-4244-1767-4
ISSN (Paper): 1553-572X
DOI: 10.1109/IECON.2008.4758359
Regular:

This paper presents a new control design method to solve the problem of uncertain friction compensation in robot joint control. A friction force observer is designed using local models of friction... View More

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