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- W2899320496 abstract "The friction deteriorates the performance of the positioning control. The friction characteristics depend on operating conditions such as the normal force, the ambient temperature and so on, which vary with time. A friction estimation method is proposed to compensate in real-time. The friction has nonlinear characteristics including the static friction, the Coulomb friction, the Stribeck effect and the hysteresis effect. The characteristics are described by the nonlinear dynamical model called the LuGre model. The nonlinear friction is estimated in real-time by the particle filter. This filter is suitable for the estimation of the friction because it can be applied to the nonlinear and non-Gaussian state space model. The problem of the particle filter is the calculation cost. The calculation cost is decreased and the estimation accuracy is increased by countermeasures which are the selection of the state variables and the resampling algorithm. The effectiveness of the proposed method is illustrated by the experiment through the comparison with the unscented Kalman filter and evaluated by root mean square error. The error without friction compensation is 101.4×10 <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>-7</sup> while the one with friction compensation using the unscented Kalman filter is 15.4×10 <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>-7</sup> and with friction compensation using the particle filter is 8.7×10 <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>-7</sup> ." @default.
- W2899320496 created "2018-11-09" @default.
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- W2899320496 date "2018-08-01" @default.
- W2899320496 modified "2023-10-14" @default.
- W2899320496 title "Particle Filter for Real-Time Estimation and Compensation of Nonlinear Friction" @default.
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- W2899320496 doi "https://doi.org/10.1109/ccta.2018.8511497" @default.
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