Methods for low-velocity friction compensation: Theory and experimental study

A study of di erent classes of controllers for mechanisms under the in uence of low velocity friction is conducted. Many methods are proposed in the literature for friction compensation, but there has been no signi cant 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 quanti ed 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 e ect of certain system parameters on the performance of