Huang, S.N.Tan, K.K.Lee, T.H.ELECTRICAL & COMPUTER ENGINEERING2014-06-172014-06-172002-02Huang, S.N., Tan, K.K., Lee, T.H. (2002-02). Adaptive motion control using neural network approximations. Automatica 38 (2) : 227-233. ScholarBank@NUS Repository. https://doi.org/10.1016/S0005-1098(01)00192-300051098https://scholarbank.nus.edu.sg/handle/10635/54905In this paper, we present a new adaptive technique for tracking control of mechanical systems in the presence of friction and periodic disturbances. Radial Basis Functions (RBFs) are used to compensate for the effects of nonlinearly occurring parameters in the friction and periodic disturbance model. Theoretical analysis, such as stability and transient performance, is provided. Furthermore, the performance of the adaptive RBF controller and its non-adaptive counterpart are compared. © 2001 Elsevier Science Ltd. All rights reserved.Adaptive controlCompensationFrictionNeural networksUncertaintyArticle000172760300004