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Title: Adaptive friction compensation of servo mechanisms
Authors: Ge, S.S. 
Lee, T.H. 
Ren, S.X.
Issue Date: Apr-2001
Source: Ge, S.S.,Lee, T.H.,Ren, S.X. (2001-04). Adaptive friction compensation of servo mechanisms. International Journal of Systems Science 32 (4) : 523-532. ScholarBank@NUS Repository.
Abstract: In this paper, adaptive friction compensation is investigated using both model-based and neural network (non-model-based) parametrization techniques. After a comprehensive list of commonly used models for friction is presented, model-based and non-model-based adaptive friction controllers are developed with guaranteed closed-loop stability. Intensive computer simulations are carried out to show the effectiveness of the proposed control techniques, and to illustrate the effects of certain system parameters on the performance of the closed-loop system. It is observed that as the friction models become complex and capture the dominate dynamic behaviours, higher feedback gains for model-based control can be used and the speed of adaptation can also be increased for better control performance. It is also found that neural networks are suitable candidate for friction modelling and adaptive controller design for friction compensation.
Source Title: International Journal of Systems Science
ISSN: 00207721
Appears in Collections:Staff Publications

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