An appropriate control scheme must be used to alleviate nonlinearities and uncertainties for the plant system. However, this is not a trivial task due to the fact that modeling the nonlinearities such as friction and stiction are always inaccurate. For this, adaptive and robust control approaches are preferable. Thus, this paper investigates a new suggested controller scheme namely Nominal Char...

model-free design methodology is reported for identificaA tion and stable adaplive control of a class of systems with state dependent parasitic effects such as friction. The methodology is constructive, incorporates modeling error bound information, and ensures stable and convergent performance. The identifier and control designs are applicable to a class of lowdimensional dynamic systems with ...

This paper introduces a method of design and implementation of a two-wheeled inverted pendulum (TWIP) robot with friction compensation. Friction in the drive mechanism is a critical factor of robot self-balancing and affects its performance. The friction parameters are identified based on the dynamic model of the drive mechanism. The dynamics of the whole robot system are obtained by the Lagran...