Friction compensation for drives with and without transmission compliance

S. Jain, F. Khorrami, N. Ahmad, S. Sankaranarayanan

Research output: Contribution to journalConference articlepeer-review


In this paper, nonlinear robust adaptive controller is proposed for friction compensation. The design has been performed for a six parameter dynamic model of friction. The advocated control design does not utilize any knowledge of these six parameters and requires just an upper bound on the static friction level, which can be obtained experimentally. The controller is robust to dynamic uncertainties and can compensate the effect of friction which is separated from the control input through drive compliance. Simulation and experimental results are also presented.

Original languageEnglish (US)
Pages (from-to)2925-2929
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - 1997
EventProceedings of the 1997 American Control Conference. Part 3 (of 6) - Albuquerque, NM, USA
Duration: Jun 4 1997Jun 6 1997

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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