Abstract
We discuss a tracking controller and show with simulation and experimental results that extended friction models can be successfully incorporated in computed-torque-like adaptive control schemes. The friction model used includes Coulomb, viscous and periodic friction with direction dependent parameters. To get small tracking errors, adaptation of the friction model parameters is necessary. The tracking performance is an order of magnitude better as with PD control. The robustness of the scheme for parameter inaccuracies is sufficient, but the adaptation gains are limited due to stability problems, caused by unmodeled dynamics
| Original language | English |
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| Title of host publication | Automatic control : world congress 1993 : proceedings of the 12th triennial world congress of the International Federation of Automatic Control. Vol.5. Associated technologies and recent developments |
| Editors | G.C. Goodwin, R.J. Evans |
| Place of Publication | Oxford, UK |
| Publisher | Pergamon |
| Pages | 109-114 |
| ISBN (Print) | 0-08-042211X |
| Publication status | Published - 1994 |