基于LuGre摩擦补偿的机器人关节EPCH与反步协调控制
杨晓宇, 于海生, 吴贺荣, 孟祥祥, 尚玉亮
EPCH and Backstepping Coordination Control of Robot Joint Based on LuGre Friction Compensation
YANG Xiaoyu, YU Haisheng, WU Herong, MENG Xiangxiang, SHANG Yuliang
控制工程 . 2024, (10): 1777 -1785 .