Research Article
A Novel Time-Varying Friction Compensation Method for Servomechanism
Figure 10
= 3000 mm·min−1; = 25 mm: (a) contour errors in quadrant A; (b) contour errors in quadrant B; (c) corresponding tracking errors of -axis in quadrant A; and (d) corresponding tracking errors of -axis in quadrant B. WTFC: without friction compensation; WFC: with friction compensation; WDOB: with disturbance observer.
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