针对机器人机械臂摩擦补偿中非线性静摩擦缺失、估计偏差和鲁棒性不足的问题，提出线性参数化摩擦模型、反步自适应估计器及激励生成算法，并在 KUKA iiwa 14 上验证有效。
摘要：
自适应控制由于不需要力矩传感器，常被用于轨迹跟踪任务中的摩擦补偿。然而，它存在一些缺点：首先，最常见的确定性等价自适应控制设计基于摩擦模型的线性化参数化，因此非线性效应（包括静摩擦和 Stribeck 效应）通常被忽略。其次，基于自适应控制的估计可能因非零稳态误差而产生偏差。第三，忽略未知模型失配可能导致估计不具鲁棒性。本文提出了一种新颖的线性参数化摩擦模型，可捕捉非线性静摩擦现象。随后，基于反步法提出了一种基于自适应控制的摩擦估计器，以减少估计过程中的偏差。最后，我们提出了一种生成激励的算法，以实现鲁棒估计。使用 KUKA iiwa 14，我们开展了轨迹跟踪实验以评估所估计的摩擦模型，包括随机 Fourier 轨迹和绘图轨迹，结果表明了我们的方法在不同控制方案中的有效性。
英文摘要：
Adaptive control is often used for friction compensation in trajectory tracking tasks because it does not require torque sensors. However, it has some drawbacks: first, the most common certainty-equivalence adaptive control design is based on linearized parameterization of the friction model, therefore nonlinear effects, including the stiction and Stribeck effect, are usually omitted. Second, the adaptive control-based estimation can be biased due to non-zero steady-state error. Third, neglecting unknown model mismatch could result in non-robust estimation. This paper proposes a novel linear parameterized friction model capturing the nonlinear static friction phenomenon. Subsequently, an adaptive control-based friction estimator is proposed to reduce the bias during estimation based on backstepping. Finally, we propose an algorithm to generate excitation for robust estimation. Using a KUKA iiwa 14, we conducted trajectory tracking experiments to evaluate the estimated friction model, including random Fourier and drawing trajectories, showing the effectiveness of our methodology in different control schemes.
Avian-Inspired High-Precision Tracking Control for Aerial Manipulators
College of Computer Science and Technology, Zhejiang University（浙江大学计算机科学与技术学院）；Westlake University（西湖大学）；Westlake Institute for Optoelectronics（西湖光电研究院）；Future Industrial Research Centre, Westlake University（西湖大学未来产业研究中心）；Institute of Advanced Technology, Westlake Institute for Advanced Study（西湖高等研究院先进技术研究所）
Stable Tracking-in-the-Loop Control of Cable-Driven Surgical Manipulators under Erroneous Kinematic Chains
Department of Electrical and Computer Engineering, University of California San Diego（电子工程与计算机科学系，加州大学圣地亚哥分校）；Department of Electrical Engineering and Computer Science, University of Tennessee Knoxville（电子工程与计算机科学系，田纳西大学基洛纳分校）
MR-MPCC: Model Predictive Contouring Control for Robotic Manipulator Tracking under Moving Reference Frames
University of Technology Sydney（悉尼科技大学）；Robotics Institute, University of Technology Sydney（悉尼科技大学机器人研究所）；University of Edinburgh（爱丁堡大学）；School of Informatics, University of Edinburgh（爱丁堡大学信息学院）
Geometric Slosh-Free Tracking for Robotic Manipulators
Technical University of Munich（慕尼黑工业大学）；School of Engineering and Design（工程与设计学院）；Munich Institute of Robotics and Machine Intelligence (MIRMI)（慕尼黑机器人与机器智能研究所）
Keep it Upright: Model Predictive Control for Nonprehensile Object Transportation with Obstacle Avoidance on a Mobile Manipulator
Technical University of Munich（慕尼黑工业大学）；University of Toronto Institute for Aerospace Studies（多伦多大学航空航天研究所）；University of Toronto Robotics Institute（多伦多大学机器人研究所）；Munich Institute of Robotics and Machine Intelligence（慕尼黑机器人与机器智能研究所）；Vector Institute for Artificial Intelligence（矢量人工智能研究所）
Predictive Kinematic Coordinate Control for Aerial Manipulators based on Modified Kinematics Learning
College of Computer Science and Technology, Zhejiang University（浙江大学计算机科学与技术学院）；Westlake University（西湖大学）；Westlake Institute for Optoelectronics（西湖光电研究院）
QP-Based Control of an Underactuated Aerial Manipulator under Constraints
Laboratoire d'automatique de Tlemcen（特马森自动化实验室）；Laboratoire d’Ingénierie des Systèmes de Versailles, Université de Versailles Saint Quentin en Yvelines, France（巴黎-萨克雷大学系统工程实验室）；Joint Robotics Laboratory, National Institute of Advanced Industrial Science and Technology (AIST)（先进工业科学技术国家研究所机器人联合实验室）
Nussbaum Function Based Approach for Tracking Control of Robot Manipulators
University of Luxembourg（卢森堡大学）；Interdisciplinary Centre for Security, Reliability and Trust (SnT)（安全、可靠性与跨学科中心（SnT））；Faculty of Science, Technology and Medicine (FSTM)（科学、技术与医学学院（FSTM））
Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking with a Wheeled-Quadrupedal-Manipulator
School of System Design and Intelligent Manufacturing (SDIM), Southern University of Science and Technology, Shenzhen, China（系统设计与智能制造学院，南方科技大学，深圳，中国）；Zhejiang University-University of Illinois Urbana-Champaign Institute (ZJUI), Haining, China（浙江大学-伊利诺伊大学厄巴纳-香槟分校联合学院，海宁，中国）；LimX Dynamics, Shenzhen, China（LimX Dynamics，深圳，中国）
RCM-Constrained Manipulator Trajectory Tracking Using Differential Kinematics Control
Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi (NYUAD)（纽约大学阿布扎比分校人工智能与机器人中心（CAIR））；Electrical Engineering, NYUAD（纽约大学阿布扎比分校电气工程系）
Dual-Mode Synchronization Predictive Control of Robotic Manipulator
School of Mechanical and Electrical Engineering, Guangzhou University（广州大学机械与电气工程学院）；School of Automation, Guangdong University of Technology（广东工业大学自动化学院）
Takagi-Sugeno Fuzzy Modeling and Control for Effective Robotic Manipulator Motion
University of Baghdad（巴格达大学）；University of Kirkuk（基尔库克大学）；Al-kitab University（阿尔基塔布大学）；University of Swat（斯瓦特大学）；Manipal University Jaipur（马尼帕尔大学斋浦尔分校）；University of Engineering & Technology Peshawar（白沙瓦工程技术大学）
Prespecified-Performance Kinematic Tracking Control for Aerial Manipulation
Westlake Institute for Optoelectronics（西lake光电研究所）；Department of Artificial Intelligence, Westlake University（人工智能系，西lake大学）；WINDY Lab（WINDY实验室）；College of Control Science and Engineering, Zhejiang University（控制科学与工程学院，浙江大学）
