液压机械臂驱动关节的非线性摩擦力自适应补偿控制

液压机械臂驱动关节的非线性摩擦力自适应补偿控制

夏杨修, 吕立彤, 陈正, 赫连勃勃

Nonlinear Friction Adaptive Compensation Control of Hydraulic Manipulator Joint

XIA Yang-xiu, LYU Li-tong, CHEN Zheng, HELIAN Bo-bo

液压与气动 . 2024, (1): 20 -30 . DOI: 10.11832/j.issn.1000-4858.2024.01.003