Two-state GMS-based friction model for precise control applications

Abstract

The capability of a model to represent the complex friction behavior is particularly important for systems where friction has a major impact on motion precision. In this work a GMS-based model is proposed which would require only two states, aiming to simplify the implementation of control laws that require friction models capable of representing presliding friction. Simulations of the proposed model are provided, showing that it keeps the main properties of the GMS model, like hysteresis with nonlocal memory, non-drifting behavior and friction lag. Also, an experimental comparison of the performance of model-based compensation for the proposed two-state model and for the complete GMS model is presented for a linear motor system with linear guides, showing promising results.