Electronic Science and Technology ›› 2022, Vol. 35 ›› Issue (7): 71-78.doi: 10.16180/j.cnki.issn1007-7820.2022.07.012

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Adaptive Finite-Time Estimation and Simulation of Friction Torque and Friction Model Parameters of Robot Systems

FANG Yueming,WANG Xian   

  1. Faculty of Mechanical & Electrical Engineering,Kunming University of Science & Technology, Kunming 650500,China
  • Received:2021-01-22 Online:2022-07-15 Published:2022-08-16
  • Supported by:
    National Natural Science Foundation of China(61922037)


The nonlinear friction torque in the robot system affects the performance of the control system. To address this problem, an adaptive parameter estimation algorithm is proposed to estimate the key parameters of a continuous friction model and realize the friction torque modeling. In order to avoid the use of acceleration signals, the robot system model is reconstructed and an unknown system dynamic estimator is designed to realize the overall estimation of the friction torque. The estimator has a simple structure, only needs to adjust one parameter to realize the estimation of the friction torque, and the estimated convergence speed is fast, which is beneficial to the realization in the actual system. On the basis of obtaining friction torque estimation, a finite-time adaptive parameter estimation algorithm based on parameter estimation error information is constructed according to the Lyapunov method. Under the premise of ensuring the convergence and robustness of the algorithm, the key parameters in the continuous friction model can be identified accurately in finite time.

Key words: robot system, friction model, reconstruction, unknown system dynamic estimator, finite-time, adaptive parameter estimation, parameter estimation error, Lyapunov

CLC Number: 

  • TP242