Abstract: Modeling and control compensation of friction force has been a challenging task in mechanical engineering. The traditional way, such as mathematical modeling approache, was found quite difficult to achieve satisfactory performances due to some immanent nonlinearity and uncertainties of the system. This paper aimed to develop fuzzy modeling techniques to characterize the friction dynamics, which can then be employed in a feed-forward compensation controller design. The proposed fuzzy modeling approach is three fold: extraction of fuzzy rules using data mining techniques, setup of static model based on the fuzzy rules, and fuzzy identification of dynamic model according to Lyapunov theory. An adaptive version of the fuzzy feed-forward compensation proportional-derivative (PD) control law was employed in the control system. A theoretical result on estimates of error bounds for closed-loop systems was established by the well-known Lyapunov stability theory. An numerical example was analysed in details and simulation results demonstrated its the usefulness and effectiveness.