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A modified LuGre model is used to capture friction dynamics of servomechanisms. This model is incorporated into an augmented neural network (NN) to account for the unknown nonlinearities. Moreover, a barrier Lyapunov function (BLF) is utilized to each step in a backstepping design procedure. Then, a novel adaptive control method is well suggested to ensure that the full\u2010state constraints are within the given boundary. The stability of the closed\u2010loop control system is proved using Lyapunov stability theory. Comparative experiments on a turntable servomechanism confirm the effectiveness of the devised control method.<\/jats:p>","DOI":"10.1155\/2018\/8925838","type":"journal-article","created":{"date-parts":[[2018,7,11]],"date-time":"2018-07-11T23:53:54Z","timestamp":1531353234000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Adaptive Barrier Control for Nonlinear Servomechanisms with Friction Compensation"],"prefix":"10.1155","volume":"2018","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4881-5327","authenticated-orcid":false,"given":"Shubo","family":"Wang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5250-7386","authenticated-orcid":false,"given":"Haisheng","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1605-7445","authenticated-orcid":false,"given":"Xuehui","family":"Gao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8721-1235","authenticated-orcid":false,"given":"Na","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2018,7,11]]},"reference":[{"key":"e_1_2_11_1_2","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2016.2618010"},{"key":"e_1_2_11_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2013.2240635"},{"key":"e_1_2_11_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2016.03.040"},{"key":"e_1_2_11_4_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2016.03.006"},{"key":"e_1_2_11_5_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00521-016-2260-5"},{"key":"e_1_2_11_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2017.2679283"},{"key":"e_1_2_11_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2782198"},{"key":"e_1_2_11_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2015.2453415"},{"key":"e_1_2_11_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2015.2427743"},{"key":"e_1_2_11_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2016.2634162"},{"key":"e_1_2_11_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2017.2684131"},{"key":"e_1_2_11_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2016.2562502"},{"key":"e_1_2_11_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2018.2815942"},{"key":"e_1_2_11_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2764110"},{"key":"e_1_2_11_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2725344"},{"key":"e_1_2_11_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.amc.2017.05.049"},{"key":"e_1_2_11_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2682024"},{"key":"e_1_2_11_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2017.2758263"},{"key":"e_1_2_11_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2014.2316289"},{"key":"e_1_2_11_20_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2688353"},{"key":"e_1_2_11_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2014.2307257"},{"key":"e_1_2_11_22_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2017.2742661"},{"key":"e_1_2_11_23_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2016.2604683"},{"key":"e_1_2_11_24_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2016.2633367"},{"key":"e_1_2_11_25_2","doi-asserted-by":"publisher","DOI":"10.1109\/tfuzz.2018.2791983"},{"key":"e_1_2_11_26_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2015.2418317"},{"key":"e_1_2_11_27_2","doi-asserted-by":"publisher","DOI":"10.1109\/tsmc.2017.2743696"},{"key":"e_1_2_11_28_2","doi-asserted-by":"publisher","DOI":"10.1109\/tsmc.2017.2769683"},{"key":"e_1_2_11_29_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2017.09.083"},{"key":"e_1_2_11_30_2","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2017.2737440"},{"key":"e_1_2_11_31_2","first-page":"83","article-title":"A new servo method in mechatronics trans","volume":"177","author":"Ohnishi B. 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