Abstract
In this paper, adaptive friction compensation and identification issues are investigated. The friction adaptation law is formulated by utilizing both observed and desired velocity information. The overall adaptive observer-controller system is semi-global asymptotically stable. Experimental results verify the effectiveness of the the proposed adaptive observer-controller.
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© 2006 Springer-Verlag Berlin Heidelberg
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Xia, Q.H., Lim, S.Y., Ang, M.H., Lim, T.M. (2006). Adaptive Friction Compensation Using a Velocity Observer. In: Ang, M.H., Khatib, O. (eds) Experimental Robotics IX. Springer Tracts in Advanced Robotics, vol 21. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11552246_8
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DOI: https://doi.org/10.1007/11552246_8
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28816-9
Online ISBN: 978-3-540-33014-1
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