Adaptive Friction Compensation of Servo Mechanisms With Nonlinear Viscous Friction

In this paper, a SDOF system with nonlinear viscous friction under harmonic excitation is studied. A nonlinear viscous friction model is built as an exponential expansion of the relative slip velocity. According to the adaptive control theory, an adaptive controller for the friction compensation of the SDOF system with nonlinear viscous friction is put forward by using the model-based parameterization techniques. The good performance of the proposed control scheme is illustrated through the computer simulation.