Real-time identification and compensation of asymmetric friction using unscented Kalman filter. - Jun'ya Fukui; Takayuki Yamamoto; Gan Chen; Isao Takami (CCTA, 2017)

Particle Filter for Real-Time Estimation and Compensation of Nonlinear Friction. - Yoshihiko Suzuki; Jun'ya Fukui; Gan Chen; Isao Takami (CCTA, 2018)