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Journal Article

Adaptive friction compensation using a velocity observer

Springer Tracts in Advanced Robotics (2006) 21 77-86
DOI: 10.1007/11552246_8
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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.

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Xia, Q. H., Lim, S. Y., Ang, M. H., & Lim, T. M. (2006). Adaptive friction compensation using a velocity observer. Springer Tracts in Advanced Robotics, 21, 77–86. https://doi.org/10.1007/11552246_8

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