An exponentially stable adaptive friction compensator

  title={An exponentially stable adaptive friction compensator},
  author={Teh-Lu Liao and Tsun-I Chien},
  journal={IEEE Trans. Automat. Contr.},
This note presents a novel adaptive compensation scheme for Coulomb friction in a servocontrol system. An adaptive observer for estimating the unknown Coulomb friction coefficient is also derived on the basis of the Lyapunov technique. In addition, a linearizing control law is developed to compensate for the friction force and obtain the tracking objective. The proposed adaptive compensation guarantees an exponential convergence for state errors and parameter error, and the adaptive schemes in… CONTINUE READING
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