Modelling and Identification of Mechanical Systems with Nonlinearities

Abstract

This paper deals with the modelling and parameter identification for a positioning table with mechanical nonlinearities. A model structure is developed to predict the nonlinear behavior exhibited by the experimental system. An off-line identification algorithm for estimating the Coulomb friction in the model is developed. Also presented is an on-line algorithm which estimates masses and friction forces in the model. Experimental and simulated responses of the system are given. Also given is a description of a nonlinear controller based on estimated Coulomb friction.