A systematic model-free methodology for the identification and compensation
of friction is proposed and is shown to be viable for a class of dynamic s
ystems. Design of the proposed identifier for friction uses Gaussian networ
ks and incorporates explicit performance bound information. The identifier
is then used in a particular compensation strategy that provides error boun
d information. The proposed identification and control designs have been va
lidated using a hardware example case system. The methodology far identifyi
ng friction is systematic and uses minimal knowledge of the dynamics which
is particularly attractive for a large class of low-dimensional dynamic sys
tems with friction.