Modeling and compensation of low-velocity friction with bounds

A systematic model-free methodology for the identification and compensation of friction is proposed and is shown to be viable for a class of dynamic systems. Design of the proposed identifier for friction uses Gaussian networks and incorporates explicit performance bound information. The identifier is then used in a particular compensation strategy that provides error bound information. The proposed identification and control designs have been validated using a hardware example case system. The methodology for identifying friction is systematic and uses minimal knowledge of the dynamics which is particularly attractive for a large class of low-dimensional dynamic systems with friction.