Model independent friction compensation

Sivakumar Sankaranarayanan, Farshad Khorrami

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper, it is shown that our earlier robust adaptive nonlinear controller for friction compensation achieves a robust performance for a general class of models capturing friction dynamics. The advocated control design methodology can be used with many existing dynamic models of friction and is robust to parametric and dynamic variations in these friction models. Furthermore, the properties of a generalized dynamic friction model are set-forth and these generic properties are exploited for control design purposes. It is also shown that many of the popular dynamic models fall within the class of models considered. The advocated controller guarantees global asymptotic tracking of the states of a one degree-of-freedom system in the presence of dynamic friction effects. Simulation studies are done for three popular dynamic friction models and a stochastic version of one of the dynamic friction models. These simulations sufficiently elucidate the robustness and performance aspects of the advocated control design methodology.

Original languageEnglish (US)
Title of host publicationProceedings of the 1998 American Control Conference, ACC 1998
Number of pages5
StatePublished - 1998
Event1998 American Control Conference, ACC 1998 - Philadelphia, PA, United States
Duration: Jun 24 1998Jun 26 1998

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other1998 American Control Conference, ACC 1998
Country/TerritoryUnited States
CityPhiladelphia, PA

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


Dive into the research topics of 'Model independent friction compensation'. Together they form a unique fingerprint.

Cite this