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|Title:||Adaptive friction compensation with time-delay friction model|
|Authors:||Tan, K.K. |
|Source:||Tan, K.K.,Huang, S.N.,Lee, T.H. (2002). Adaptive friction compensation with time-delay friction model. Proceedings of the World Congress on Intelligent Control and Automation (WCICA) 2 : 969-973. ScholarBank@NUS Repository.|
|Abstract:||We present a new compensation technique for a time delay friction model, which captures the effect of frictional memory. The proposed control utilizes a PD control structure and an adaptive estimate of the friction force. Specifically, a radial basis function (RBF) is used to compensate the effects of the nonlinearly-occurring parameters in the friction model. Simulation results verify the theory and show that the method can significantly improve the tracking performance of a control system in which it is used.|
|Source Title:||Proceedings of the World Congress on Intelligent Control and Automation (WCICA)|
|Appears in Collections:||Staff Publications|
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