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On adaptive friction compensation without velocity measurement

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2 Author(s)
Friedland, B. ; Dept. of Electr. & Comput. Eng., New Jersey Inst. of Technol., Newark, NJ, USA ; Mentzelopoulou, S.

The estimation and compensation of friction that may be present in a control system in which the velocity cannot be directly measured are considered. The compensator uses two observers: one to estimate the velocity and another which uses the velocity estimate of the first to estimate the friction coefficient. Local stability of the system is shown, and favorable simulation results are presented

Published in:

Control Applications, 1992., First IEEE Conference on

Date of Conference:

13-16 Sep 1992