Single-state friction model for control purposes

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.