Title: A Smoothed GMS Friction Model suited for Gradient-Based Friction State and Parameter Estimation
Authors: Boegli, Max ×
De Laet, Tinne
De Schutter, Joris
Swevers, Jan #
Issue Date: Oct-2014
Publisher: Institute of Electrical and Electronics Engineers
Series Title: IEEE/ASME Transactions on Mechatronics vol:19 issue:5 pages:1593-1602
Abstract: This paper presents a model that closely approximates the Generalized Maxwell-Slip (GMS) model, a multistate friction model known to describe all essential friction characteristics in presliding and sliding motion. In contrast to the GMS model, which consists of a switching structure to accommodate for its hybrid nature, the new model, referred to as the Smoothed GMS (S-GMS) model, consists of an analytic set of differential equations. Such a model is well suited for gradient-based state and parameter estimation, as in the Extended Kalman Filter (EKF) or in Moving Horizon Estimation (MHE). Similar to the GMS model, the S-GMS model is a multi-state model that also describes all essential friction characteristics. Moreover, the S-GMS model description includes the single-state LuGre model and Elasto-Plastic model as special cases. This paper discusses the implementation of the EKF estimator for the S-GMS friction model and compares its performance to the LuGre model in joint state and parameter estimation.
ISSN: 1083-4435
Publication status: published
KU Leuven publication type: IT
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
× corresponding author
# (joint) last author

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