@inproceedings{d9ebfc97c84e4d0482ef516933a65fe8,
title = "Adaptive control of robotic servo system with friction compensation",
abstract = "Adaptive control design is studied for a class of robotic turntable servo systems with friction dynamics. A newly developed continuously differentiable friction model is utilized, where the explicit model parameters are incorporated into the neural network weights adaptation. To further enhance the adaptation convergence and to reduce the tracking error, a velocity predictor is proposed to develop a composite adaptation law combining the tracking error and the predictor error. Stability analysis and bounds for both errors are guaranteed, and extensive experimental investigations are performed on a two-axis robotic turntable to assess the advantages and the achievable control performance of the proposed schemes.",
keywords = "Adaptive control, friction compensation, neural network, robotic turntable",
author = "Dongdong Zheng and Jing Na and Xuemei Ren and Guido Herrmann and Stefano Longo",
year = "2011",
doi = "10.1109/RAMECH.2011.6070497",
language = "English",
isbn = "9781612842509",
series = "IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings",
pages = "285--290",
booktitle = "Proceedings of the 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011",
note = "2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011 ; Conference date: 17-09-2011 Through 19-09-2011",
}