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|Title:||Adaptive friction compensation using a velocity observer|
Ang Jr., M.H.
|Source:||Xia, Q.H.,Lim, S.Y.,Ang Jr., M.H.,Lim, T.M. (2006). Adaptive friction compensation using a velocity observer. Springer Tracts in Advanced Robotics 21 : 77-86. ScholarBank@NUS Repository. https://doi.org/10.1007/11552246_8|
|Abstract:||In this paper, adaptive friction compensation and identification issues are investigated. The friction adaptation law is formulated by utilizing both observed and desired velocity information. The overall adaptive observer-controller system is semi-global asymptotically stable. Experimental results verify the effectiveness of the the proposed adaptive observer-controller. © Springer-Verlag Berlin/Heidelberg 2006.|
|Source Title:||Springer Tracts in Advanced Robotics|
|Appears in Collections:||Staff Publications|
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