On Adaptive Friction Compensation

Bernard Friedland

Research output: Contribution to journalArticlepeer-review

223 Scopus citations


A method of compensating for friction in control systems is presented. The method entails the use of an observer to estimate the friction which is modeled as a constant times the sign of the velocity. The purpose of the observer is to estimate this constant. The observer model is selected to ensure that the error in estimation of the friction constant converges asymptotically to zero. Simulation results verify the theory and show that the method can significantly improve the performance of a control system in which it is used. Although based on the assumption of a constant friction magnitude, the observer displays the ability to “track” friction whose magnitude depends on velocity.

Original languageEnglish (US)
Pages (from-to)1609-1612
Number of pages4
JournalIEEE Transactions on Automatic Control
Issue number10
StatePublished - Oct 1992

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'On Adaptive Friction Compensation'. Together they form a unique fingerprint.

Cite this