Compensation of stick-slip effect in an electrical actuator

In some mechanical systems which make very small motions like industrial wagons or constructor robots, the dispositive of their control usually presents some imperfections, a succession of jumps and stops, when the static friction force is larger than the dynamic friction force. This effect is called the stick-slip phenomenon. In this paper, we develop a nonlinear observer in order to estimate the friction force of the contact during the motion, and to compensate the effects which cause the stick-slip phenomenon.