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

fYear

2012

fDate

27-29 June 2012

Firstpage

2627

Lastpage

2632

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;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2012

Conference_Location

Montreal, QC

ISSN

0743-1619

Print_ISBN

978-1-4577-1095-7

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2012.6315360

Filename

6315360