Adaptive friction compensation with time-delay friction model

We present a new compensation technique for a time delay friction model, which captures the effect of frictional memory. The proposed control utilizes a PD control structure and an adaptive estimate of the friction force. Specifically, a radial basis function is used to compensate the effects of the nonlinearly-occurring parameters in the friction model. Simulation results verify the theory and show that the method can significantly improve the tracking performance of a control system in which it is used.