学習制御を用いた非線形摩擦を有するシステムの連続時間システム同定

抄録

In order to achieve high precision position tracking performances in positioning systems, the friction phenomena must be taken into consideration during the development of control algorithm. For effective compensation, the value of the friction force must be known in every domain of operation of the mechanical systems. This study presents a new identification method to obtain a continuous-time model of the mechanical systems with nonlinear friction. The method utilizes projection of measured signals onto a finite dimensional signal subspace. Its effectiveness is demonstrated through numerical example of a linear plant with nonlinear friction.