LOW-VELOCITY FRICTION COMPENSATION

A model-free design methodology is reported for identification and sta ble adaptive control of a class of systems with state dependent parasi tic effects such as friction. The methodology is constructive, incorpo rates modeling error bound information, and ensures stable and converg ent performance. The identifier and control designs are applicable to a class of low-dimensional dynamic systems with the cited parasitic ef fects. Validation of the designs is provided using two hardware exampl e cases.