Friction identification using evolution strategies and robust control of positioning tables

Abstract

This paper presents an identification technique using evolution strategies (ES) for an integrated friction model of a positioning table. The friction model is based on Karnopp's friction-velocity model with the rising static friction and spring-like property. Using the (mu + lambda)-ES, the system parameters are identified with the experimental input and output data. The proposed control law consists of a conventional linear feedback control input, a friction compensation term and a sliding control input. The proposed control scheme can guarantee the stability of the overall system, evert in the presence of the external disturbances and the modeling error between the real friction and the identified model. Experiments on an positioning table, called X-Y table, demonstrate the effectiveness of the proposed identification and control schemes.