A Velocity Estimator relying on Friction Observers: Application to inverted pendulum stabilization

Roland Lenain; Anders Robertsson; Rolf Johansson; Anton Shiriaev; Michel Berducat

A Velocity Estimator relying on Friction Observers: Application to inverted pendulum stabilization

Roland Lenain, Anders Robertsson, Rolf Johansson, Anton Shiriaev, Michel Berducat

Department of Automatic Control

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

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Abstract

This paper addresses the problem of velocity reconstruction of robotic systems with rigid-body dynamics subject to friction. The aim of this paper is to estimate the velocities in the joint of a robot as well as the friction interacting with these velocities. Confronted with friction phenomena interacting with velocity dynamics, we have developed a non-linear observer, partly model-based for estimation of velocity and compensation of friction.

Original language	English
Title of host publication	Preprints 7th IFAC Symp. Nonlinear Control Systems (NOLCOS 2007)
Publication status	Published - 2007
Event	7th IFAC Symposium on Nonlinear Control Systems, 2007 - Pretoria, South Africa Duration: 2007 Aug 22 → 2007 Aug 24 Conference number: 7

Conference

Conference	7th IFAC Symposium on Nonlinear Control Systems, 2007
Abbreviated title	NOLCOS'07
Country/Territory	South Africa
City	Pretoria
Period	2007/08/22 → 2007/08/24

Subject classification (UKÄ)

Control Engineering

Free keywords

friction compensation
velocity reconstruction
robotic systems
nonlinear observer

RobotLab LTH
Bagge Carlson, F. (Researcher), Johansson, R. (Researcher), Karlsson, M. (Researcher), Olofsson, B. (Researcher), Robertsson, A. (Researcher), Robertz, S. (Researcher), Haage, M. (Researcher), Malec, J. (Researcher), Nilsson, K. (Researcher), Nugues, P. (Researcher), Stenmark, M. (Researcher), Topp, E. A. (Researcher), Krueger, V. (Researcher), Åström, H. (Researcher), Mayr, M. (Researcher), Salt Ducaju, J. (Researcher), Nishimura, M. (Administrator), Wisbrant, J. (Project communication officer), Dürr, A. (Researcher), Mayr, M. (Researcher), Nugues, P. (Researcher), Klang, M. (Research engineer), Klöckner, M. (Researcher), Nardi, L. (Researcher), Ahmad, F. (Researcher), Oxenstierna, J. (Researcher), Rizwan, M. (Researcher), Reichenbach, C. (Researcher), Bergström, J. (Researcher), Dell'Unto, N. (Researcher), Maunsbach, L. (Researcher), Åström, K. (Researcher), Blomdell, A. (Research engineer), Magnusson, M. (Researcher), Fransson, P.-A. (Researcher), Karayiannidis, Y. (Researcher), Johansson, A. T. (Researcher), Jia, Z. (Researcher), Laban, L. (Researcher), Wingqvist, B. (Researcher), Guberina, M. (Researcher), Jena, A. (Researcher), Westin, E. (Administrator), Frick, C. (Administrator), Pisarevskiy, A. (Research engineer), Nilsson, A. (Research engineer), Reitmann, S. (Researcher), Hvarfner, C. (Researcher), Stoltenberg, P. (Researcher) & Fregnan, S. (Researcher)
1993/01/01 → …
Project: Research

RobotLab LTH Infrastructure
Krueger, V. (Manager), Olofsson, B. (Manager), Karayiannidis, Y. (Manager), Haage, M. (Manager), Malec, J. (Manager) & Topp, E. A. (Manager)
Faculty of Engineering, LTH
Infrastructure

Cite this

@inproceedings{113bc0ef4eac4e2a8b05bbe8967f8aa2,

title = "A Velocity Estimator relying on Friction Observers: Application to inverted pendulum stabilization",

abstract = "This paper addresses the problem of velocity reconstruction of robotic systems with rigid-body dynamics subject to friction. The aim of this paper is to estimate the velocities in the joint of a robot as well as the friction interacting with these velocities. Confronted with friction phenomena interacting with velocity dynamics, we have developed a non-linear observer, partly model-based for estimation of velocity and compensation of friction.",

keywords = "friction compensation, velocity reconstruction, robotic systems, nonlinear observer",

author = "Roland Lenain and Anders Robertsson and Rolf Johansson and Anton Shiriaev and Michel Berducat",

year = "2007",

language = "English",

booktitle = "Preprints 7th IFAC Symp. Nonlinear Control Systems (NOLCOS 2007)",

note = "7th IFAC Symposium on Nonlinear Control Systems, 2007, NOLCOS'07 ; Conference date: 22-08-2007 Through 24-08-2007",

}

TY - GEN

T1 - A Velocity Estimator relying on Friction Observers: Application to inverted pendulum stabilization

AU - Lenain, Roland

AU - Robertsson, Anders

AU - Johansson, Rolf

AU - Shiriaev, Anton

AU - Berducat, Michel

N1 - Conference code: 7

PY - 2007

Y1 - 2007

N2 - This paper addresses the problem of velocity reconstruction of robotic systems with rigid-body dynamics subject to friction. The aim of this paper is to estimate the velocities in the joint of a robot as well as the friction interacting with these velocities. Confronted with friction phenomena interacting with velocity dynamics, we have developed a non-linear observer, partly model-based for estimation of velocity and compensation of friction.

AB - This paper addresses the problem of velocity reconstruction of robotic systems with rigid-body dynamics subject to friction. The aim of this paper is to estimate the velocities in the joint of a robot as well as the friction interacting with these velocities. Confronted with friction phenomena interacting with velocity dynamics, we have developed a non-linear observer, partly model-based for estimation of velocity and compensation of friction.

KW - friction compensation

KW - velocity reconstruction

KW - robotic systems

KW - nonlinear observer

M3 - Paper in conference proceeding

BT - Preprints 7th IFAC Symp. Nonlinear Control Systems (NOLCOS 2007)

T2 - 7th IFAC Symposium on Nonlinear Control Systems, 2007

Y2 - 22 August 2007 through 24 August 2007

ER -

A Velocity Estimator relying on Friction Observers: Application to inverted pendulum stabilization

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