Please use this identifier to cite or link to this item: https://doi.org/10.1109/TMECH.2009.2036994
Title: Adaptive friction compensation with a dynamical friction model
Authors: Lee, T.H. 
Tan, K.K. 
Huang, S. 
Keywords: Adaptive control
friction compensation
nonlinear systems
Issue Date: Feb-2011
Source: Lee, T.H.,Tan, K.K.,Huang, S. (2011-02). Adaptive friction compensation with a dynamical friction model. IEEE/ASME Transactions on Mechatronics 16 (1) : 133-140. ScholarBank@NUS Repository. https://doi.org/10.1109/TMECH.2009.2036994
Abstract: This paper presents a new compensation technique for dynamic friction. The proposed control utilizes a PD control structure and an adaptive estimation of the friction force based on an observer. Specifically, a nonlinear function is used to compensate the nonlinear effects of the parameters in the friction model. Simulations and experimental results verify the theory and show that the method can significantly improve the tracking performance of the motion control system. © 2006 IEEE.
Source Title: IEEE/ASME Transactions on Mechatronics
URI: http://scholarbank.nus.edu.sg/handle/10635/54897
ISSN: 10834435
DOI: 10.1109/TMECH.2009.2036994
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