Abstract
Friction is a complex phenomenon which has negative effects on the precision of positioning systems. Therefore, friction models for use in friction compensation have to show a good performance while remaining simple enough for its use in control algorithms. In this work, a single-state friction model for control purposes is proposed, aiming to simplify the implementation of such control algorithms, while keeping a good performance in friction compensation. This model has been tested on an experimental setup based on a linear motor, and its performance is compared to that of the Generalized Maxwell-slip (GMS) model, showing better performance on the tracking error for low accelerations.
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Villegas, F.J., Hecker, R.L., Flores, G.M. (2018). Single-State Friction Model for Control Purposes. In: Carvalho, J., Martins, D., Simoni, R., Simas, H. (eds) Multibody Mechatronic Systems. MuSMe 2017. Mechanisms and Machine Science, vol 54. Springer, Cham. https://doi.org/10.1007/978-3-319-67567-1_25
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DOI: https://doi.org/10.1007/978-3-319-67567-1_25
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