Adaptive compensation technique for nonlinear dynamic and static models of friction

Friction is a nonlinear phenomenon which appears in mechanical devices with moving parts and has malicious effects on behavior of systems and sometimes leads to fail designed controllers to perform appropriately. Therefore, friction compensation is a vital process in these systems. An adaptive approach is presented in this paper to compensate friction effects. It works for nonlinear static and dynamic models of friction such as Classic, Exponential, and LuGre. This technique is described and tested on simple inverted pendulum on a cart where friction is considered between cart and ground. However, suggested technique is applicable on any mechanical system. Finally, high performance and effectiveness of the proposed approach is shown by simulations.