Adaptive friction compensation using extended Kalman-Bucy filter friction estimation

An extended Kalman-Bucy filter (EKBF)-based friction compensation method is presented and validated. The method relies on an accurate model of system rigid-body dynamics and measured motion, rather than a structured nonlinear friction model, to estimate external friction torque. The estimate is used in a traditional friction compensator to cancel friction effects.. The EKB F compensator is compared with other model-based and non-model-based fricti on compensation strategies through position tracking experiments. Results s how that when motion is dominated by static and Stribeck friction, non-mode l-based friction estimation and compensation using the EI(BF consistently p rovides equal or superior performance over model-based adaptive friction co mpensation methods. (C) 2001 Elsevier Science Ltd. All rights reserved.