On Methods for Low Velocity Friction Compensation: Theory and Experimental Study

A study of diierent classes of controllers for mechanisms under the innuence of low velocity friction is conducted. Many methods are proposed in the literature for friction compensation, but there has been no signiicant analysis of these methods with respect to each other. Also lacking in the literature is some form of categorization, under which it is possible to describe and study their performance. This paper provides an experimental and analytic study of controllers previously proposed for low velocity friction compensation. Since each controller will be evaluated on the same experimental platform, the results can be quantiied to provide an approach by which to evaluate the performance of the controllers relative to each other. Some simulations will also be performed to show the eeect of certain system parameters on the performance of these controllers.