Title :
A Smoothed GMS friction model suited for gradient-based friction state estimation
Author :
Boegli, Max ; De Laet, Tinne ; De Schutter, Joris ; Swevers, Jan
Author_Institution :
Dept. of Mech. Eng., K.U. Leuven, Leuven, Belgium
Abstract :
The multi-state Generalized Maxwell-Slip (GMS) friction model is known to describe all essential friction characteristics in presliding and sliding motion. It is also known that due to its switching state conditions between presliding and sliding, gradient-based parameter and state estimation methods cannot be implemented efficiently. Efficient on-line state and parameter estimation is essential for model-based friction compensation in order to track changes of friction characteristics in time and space. This paper presents a Smoothed GMS (S-GMS) friction model with an analytic set of differential equations well suited for gradient-based estimation techniques. Friction state estimation is implemented with an Extended Kalman Filter (EKF) to validate the S-GMS model numerically and experimentally, and compare its behavior with the GMS model.
Keywords :
Kalman filters; differential equations; friction; gradient methods; mechanical variables control; motion control; nonlinear filters; parameter estimation; state estimation; differential equation; extended Kalman filter; gradient-based friction state estimation; gradient-based parameter estimation; model-based friction compensation; presliding motion; smoothed generalized Maxwell-slip friction model; state estimation method; switching state condition; Analytical models; Equations; Force; Friction; Mathematical model; State estimation;
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2012.6315360
