Friction Modelling and Robust Adaptive Compensation
نویسندگان
چکیده
In this paper, a friction model is proposed which can easily be introduced in adaptive control algorithms. Based on the model, a robust adaptive friction compensation algorithm is developed for high precision positioning systems. It is shown that the proposed compensation scheme guarantees a prescribed accuracy for trajectory tracking. The paper also presents experimental results to demonstrate the applicability of the proposed control algorithm. Copyright c ©2005 IFAC
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تاریخ انتشار 2005