Adaptive Compensation of Friction Forces with Differential Filter

  • Kouichi Mitsunaga Oita Institute of Technology Control Engineering Department 407-27 Higashihama, Nakatsu, Oita, Japan 871-0006
  • Takami Matsuo Oita University Department of Architecture and Mechatronics 700 Dannoharu, Oita, Japan 870-1192


In this paper, we design an adaptive controller to compensate the nonlinear friction model when the output is the position. First, we present an adaptive differential filter to estimate the velocity. Secondly, the dynamic friction force is compensated by a fuzzy adaptive controller with position measurements. Finally, a simulation result for the proposed controller is demonstrated.


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How to Cite
MITSUNAGA, Kouichi; MATSUO, Takami. Adaptive Compensation of Friction Forces with Differential Filter. INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL, [S.l.], v. 3, n. 1, p. 80-89, mar. 2008. ISSN 1841-9844. Available at: <>. Date accessed: 05 dec. 2021.


nonlinear friction, adaptive controller, fuzzy basis function expansion, adaptive differential filter