A ROBUST NON MODEL-BASED FRICTION COMPENSATION APPROACH

A robust friction compensation approach is proposed, constituted by a feedback control law, including the compensation of the friction effects, on the basis of the estimate provided by a non model-based, reduced-order observer. The approach, developed in the paper to solve a regulation problem for a 1-dof servomechanism, does not require the knowledge of the friction parameters. The stability properties of the controlled system, and the robustness of the proposed control scheme with respect to variations of the system inertia, are analytically proven, and confirmed by simulation results.