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Title: Adaptive friction compensation using a velocity observer
Authors: Xia, Q.H.
Lim, S.Y.
Ang Jr., M.H. 
Lim, T.M.
Issue Date: 2006
Citation: 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.
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
ISBN: 3540288163
ISSN: 16107438
DOI: 10.1007/11552246_8
Appears in Collections:Staff Publications

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