Abstract
The objective of this paper is the identification of generalised Maxwell slip (GMS) friction model using a new proposed switching function. The GMS friction model is composed of two phases and a switching function, which guarantee the transition from one phase to another. The switching function is based on the friction model and its parameters which are unknown. Hence, a new switching function is proposed in this paper. The new switching function is validated experimentally. The identification of the GMS friction model is done using online least square estimator combined with filtering approaches and a linearisation in order to adopt the formulation of the friction model to the estimator mechanism. Moreover, the new proposed switching function is integrated with the process of the identification and it is validated using an experimental test. The experimental results show that the switching function proposed is convenient for the identification of the friction model.
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