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Limit Cycle Control Using Energy Function Regulation With Friction Compensation
IEEE Robotics and Automation Letters
In this paper we consider the problem of generating periodic solutions for fully actuated robots with unknown disturbances, which can be modeled using a regressor matrix. We extend our previous work on limit cycle control based on energy function regulation for the case when disturbance torques are acting on the system, e.g. torques due to friction. Since the controller is designed in two independent steps, the compensation of the friction cannot be carried on with standard techniques and itdoi:10.1109/lra.2015.2507784 dblp:journals/ral/GarofaloO16 fatcat:qyjodfom7zc65blfj2d7flzx7y