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https://doi.org/10.1007/11552246_8
| 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. 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 | URI: | http://scholarbank.nus.edu.sg/handle/10635/59366 | ISBN: | 3540288163 | ISSN: | 16107438 | DOI: | 10.1007/11552246_8 |
| Appears in Collections: | Staff Publications |
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