Friction in mechanisms is a phenomenon that degrades the performance of control systems. Among the various ingredients present in the friction phenomenon, the viscous effect is particularly harmful. In order to deal with viscous friction, which has been recognized during experimental tests to be a complex function of the operating temperature, this paper proposes a smooth adaptive viscous friction compensator using a non-linear observer based on the Dahl model of friction. The performance of the proposed control scheme is illustrated through experiments on a direct-drive servo motor.
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