Adaptive control of manipulator flexible-joint with friction compensation using LuGre model

Abstract

This paper addressed the adaptive backstepping control of space flexible-joint manipulator with nonlinear friction compensation. LuGre dynamic friction model was adopted to characterize the friction forces and dual state observers were proposed to estimate the internal immeasurable state of LuGre model. Based on the estimated friction state, adaptive laws were designed to identify the unknown model parameters and the external disturbances. The system stability and asymptotic trajectory tracking performance were guaranteed by Lyapunov function and demonstrated by the simulation results.