A nonlinear dynamic friction control is dealt with using dynamic friction observer and intelligent control.The adaptive dynamic friction observer based on the LuGre friction is proposed to estimate the friction parameters and a directly immeasurable friction state variable.The dynamic structured Recurrent Fuzzy Neural Network（RFNN）is designed to give additional robustness to the control system under the presence of the friction model uncertainty.A proposed composite control scheme is applied to the position tracking control of the servo system.The performances of the proposed friction observer and the friction controller are demonstrated by simulation.
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