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

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.