Title: A parsimonious friction model for efficient identification and compensation of hysteresis with nonlocal memory

Authors: Alessio Merola; Domenico Colacino; Carlo Cosentino; Francesco Amato

Addresses: Department of Experimental and Clinical Medicine Magna Graecia University of Catanzaro Campus Universitario S.Venuta, viale Europa, 88100, Catanzaro, Italy ' Department of Experimental and Clinical Medicine Magna Graecia University of Catanzaro Campus Universitario S.Venuta, viale Europa, 88100, Catanzaro, Italy ' Department of Experimental and Clinical Medicine Magna Graecia University of Catanzaro Campus Universitario S.Venuta, viale Europa, 88100, Catanzaro, Italy ' Department of Experimental and Clinical Medicine Magna Graecia University of Catanzaro Campus Universitario S.Venuta, viale Europa, 88100, Catanzaro, Italy

Abstract: A novel dynamic friction model, which allows to capture friction hysteresis with nonlocal memory, is presented in this paper. The model is conceived in order to find a trade-off between accuracy of the model prediction and difficulty of implementation in motion control systems with model-based friction compensation. The hysteresis function introduced into the model accounts for nonlocal memory, i.e. the property for which the friction output depends not only on the initial conditions but also on past extremum values of the input or the output. In comparison with other models incorporating a hysteresis function with nonlocal memory, the proposed model is demonstrated to reduce the number of parameters necessary to reproduce the hysteresis loops observed experimentally. Moreover, parameter identification can benefit of the availability of a closed form of the model solution.

Keywords: parsimonious friction modelling; hysteresis; non-local memory; parameter identification; friction dynamics; model-based friction compensation; presliding regime; motion control.

DOI: 10.1504/IJMIC.2015.067497

International Journal of Modelling, Identification and Control, 2015 Vol.23 No.1, pp.85 - 91

Received: 21 Dec 2013
Accepted: 05 Jun 2014
Published online: 31 Mar 2015 *

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