A Friction Model based on Parallelization of Original LuGre Models and the Corresponding Compensator. Issue 7 (2021)

• Record Type: Journal Article
• Authors: Pouilly-Cathelain, M.; Feyel, P.
• Is Part Of: IFAC-PapersOnLine. Volume 54:Issue 7(2021)
• Page Start: 499
• Page End: 504
• Publication Date: 2021
• Subjects: Friction model -- Nonlinear model -- Identification -- Stability -- Optimization; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2021.08.409
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper proposes a new friction model, the corresponding compensator and a systematic method to identify parameters. The proposed model is based on the parallelization of several well-known LuGre friction models and is motivated by practical mechanical structure. Stability of the compensator is proven by using Lyapunov theory. The differential evolution algorithm is used to identify the model and tune the compensator. The efficiency of the model is proven by comparison with other well-known models such as the Leuven model and the GMS model.