Nonlinear Identification of Friction Model Using Concave/Convex Parameterization

Author

Grami, Said ; Bigras, Pascal

Author_Institution

Ecole de Technol. Superieure, Quebec Univ., Montreal, Que.

Volume

1

fYear

2006

fDate

9-13 July 2006

Firstpage

272

Lastpage

277

Abstract

This paper presents the min-max non linear identification method applied to a friction model. This static friction model includes the Coulomb and viscous friction with stiction and Stribeck effect. The estimator used for identification is based on concave/convex parameterization and a min-max optimization problem. Based on the persistence of excitation assumption, the convergence of the estimator is proved. Simulation results demonstrate the good performance of the identification approach

Keywords

concave programming; convex programming; minimax techniques; stiction; Coulomb friction; Stribeck effect; concave parameterization; convex parameterization; friction model nonlinear identification; min-max nonlinear identification method; static friction; stiction; viscous friction; Adaptive control; Control system synthesis; Convergence; Electrical equipment industry; Force control; Friction; Mathematical model; Motion control; Programmable control; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2006 IEEE International Symposium on

Conference_Location

Montreal, Que.

Print_ISBN

1-4244-0496-7

Electronic_ISBN

1-4244-0497-5

Type

conf

DOI

10.1109/ISIE.2006.295605

Filename

4077936