Adaptive control techniques forfrictioncompensation

Abstract In this paper, we design two adaptive controllers for a second-ordermechanicalsystem which incorporates frictional effects such as Coulomb, static, Stribeck, andviscousfriction. First, we design a modular position tracking controller that can accommodate avarietyof adaptive update laws. The proposed controller is shown to compensate foruncertaintyassociated with the friction parameters which appear linearly in the model. In thesecond controlscheme, we show how a Lyapunov-based adaptive position setpoint controller canbe designed tocompensate for parametric uncertainty throughout the mechanical systemincluding the Stribeckeffect related constant which does not appear linearly in the model.Experimental results areprovided to illustrate the performance of the proposed controllers.

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