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Adaptive Friction Compensation Using a Velocity Observer

  • III. Identification and Control
  • Conference paper
  • First Online:
Experimental Robotics IX

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 21))

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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Author information

Authors and Affiliations

  1. Mechanical Engineering Department, National University of, Singapore

    Qing Hua Xia & Marcelo H. Ang

  2. Singapore Institute of Manufacturing Technology, Singapore

    Ser Yong Lim & Tao Ming Lim

Authors
  1. Qing Hua Xia
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  2. Ser Yong Lim
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  3. Marcelo H. Ang
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  4. Tao Ming Lim
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Editor information

Marcelo H. Ang Jr. Oussama Khatib

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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

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-28816-9

  • Online ISBN: 978-3-540-33014-1

  • eBook Packages: EngineeringEngineering (R0)

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