An immersion-and-invariance adaptive observer estimates velocity and friction parameters for a stiction-plus-Coulomb system with position-only measurement, enabling globally convergent tracking.
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Adaptive Compensation of Nonlinear Friction in Mechanical Systems Without Velocity Measurement
An immersion-and-invariance adaptive observer estimates velocity and friction parameters for a stiction-plus-Coulomb system with position-only measurement, enabling globally convergent tracking.