Friction compensation based on improved performance model reference adaptive control

This paper presents a method of friction compensation based on improved performance model reference adaptive control when partial friction model parameters are considered to be known. First, against the effect of nonlinear friction to servo systems, a set of nominal friction model and system model parameters are obtained by suitable experiment design. Then, a friction compensation controller based on model reference adaptive control is synthesized when running conditions and variation of environment are considered. Finally, simulation studies are performed against the above method. The results indicate that this controller enhances the system performance