Friction Estimation of Ball and Plate System Based on Extended Kalman Filter

In the literature, a method of friction estimation based on extended Kalman filter aimed at the difficulty of obtaining the exact friction model was proposed. This method induced the concept of model error and designed an extended Kalman filter observer to estimate the value of friction on line. At the same time, the method of covariance matrix weighted modify was provided for the question of divergence of Kalman filter. The experiment result was shown in the end of paper.