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This paper is devoted to a stabilization problem for a servo-system under the influence of friction. The proposed approach is based on a multi-objective control design using a reduced-order velocity observer, a generalized Maxwell-slip (GMS) model-based friction compensation and a linear time invariant (LTI) compensator simultaneously. Stabilization conditions on interconnected systems are investigated...
This paper deals with an extended output- feedback positioning tracking of a servo-system with friction based on generalized Maxwell-slip (GMS) friction observer dynamics with fixed model parameters. We succeed in designing a linear time invariant (LTI) compensator which ensures exponential stabilization and additional multi-objective features (e.g. closed-loop pole location). These conditions are...
A historical review of constrained robot modeling and control strategies is first introduced. Next, a design of a motion/force controller for a constrained servo-robot, which is based on a commonly known modeling structure, is proposed. The contact between the end-effector and the environment is subject to frictional features. Accordingly, the control plant is based on the LuGre friction closed-loop...
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