LuGre Friction Model Identification and Compensator Tuning Using A Differential Evolution Algorithm

Philippe Feyel 1 Gilles Duc 2 Guillaume Sandou 3, 2
3 DISCO - Dynamical Interconnected Systems in COmplex Environments
L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France, SUPELEC, CNRS - Centre National de la Recherche Scientifique : UMR8506
Abstract : This paper proposes a systematic method to identify the parameters of the LuGre friction model and tune the feedback corresponding compensator. Because of the non linearity of the model, those tasks are difficult and often need lots of time-consuming experiments which are not always compatible with industrial constraints. In this work, the use of a Differential Evolution algorithm (belonging to the class of evolutionary algorithms) leads to more than satisfactory results in terms of repeatability and rate of convergence. Furthermore, this approach requires a low number of experiments which finally makes it well-suited to the industrial framework too.
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Conference papers
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https://hal-supelec.archives-ouvertes.fr/hal-00795144
Contributor : Josiane Dartron <>
Submitted on : Wednesday, February 27, 2013 - 2:13:02 PM
Last modification on : Wednesday, June 5, 2019 - 10:38:03 AM

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Philippe Feyel, Gilles Duc, Guillaume Sandou. LuGre Friction Model Identification and Compensator Tuning Using A Differential Evolution Algorithm. SDE 2013, Apr 2013, Singapore, Singapore. pp.85 - 91, ⟨10.1109/SDE.2013.6601446⟩. ⟨hal-00795144⟩

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