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A Lyapunov-based adaptive friction comensation

version 1.0.0 (28.6 KB) by Shayan Sepahvand
A new method for adaptive friction compensation is implemented on a complicated two-link planar robot manipulator.


Updated 22 Sep 2021

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This a simulation of a tracking control by employing a friction compensation method. It is investiagted by considering a two-link manipulator robot. To explain more, the paper cited below may be helpful.
1) Just run the simulink file.

Cite As

Shayan Sepahvand (2022). A Lyapunov-based adaptive friction comensation (, MATLAB Central File Exchange. Retrieved .

Yazdizadeh, A., and K. Khorasani. “Adaptive Friction Compensation Using a Lyapunov-Based Design Scheme.” Proceedings of 35th IEEE Conference on Decision and Control, IEEE, doi:10.1109/cdc.1996.573545.

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MATLAB Release Compatibility
Created with R2016a
Compatible with any release
Platform Compatibility
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