Adaptive Friction Compensation for Linear Slider with adaptive differentiator

This paper deals with a adaptive tracking control for a positioning mechanism with friction. All most of the previous method, the controller requires full–states measurements, such as position and velocity measurements. It is often that only the position is measured by position sensors in the practical experimentation. Therefore, the velocity should be estimated in some way using only position measurement. This paper deals with adaptive friction compensation method that includes a adaptive differentiator which can estimate velocity signals. The effectiveness of the proposed method is demonstrated by numerical simulations and experimental results.