Adaptive Friction Compensation With a Dynamical Friction Model

This paper presents a new compensation technique for dynamic friction. The proposed control utilizes a PD control structure and an adaptive estimation of the friction force based on an observer. Specifically, a nonlinear function is used to compensate the nonlinear effects of the parameters in the friction model. Simulations and experimental results verify the theory and show that the method can significantly improve the tracking performance of the motion control system.