Dry friction: Modelling and adaptive compensation

This paper presents an innovative dry friction model describing the Coulomb and Striebeck effects on a mechanical system. This model has the particularity of relying not only on the mechanical system velocity but also on its driving force. A compensation control structure providing feedback linearization is derived from the said model, with an additional adaptive control scheme guaranteeing efficient friction compensation in case of unknown or variant Coulomb parameter. Experiments carried out on a servo-system confirm the relevance of the proposed approach.