GMDH-based modeling and compensation for nonlinear friction in table drive systems

This paper presents a novel mathematical model-based compensator design for the nonlinear friction in table drive systems using Group Method of Data Handling (GMDH). In the proposed approach, the nonlinear friction can be autonomously modeled as a polynomial expression for appropriate control state variables according to the process of GMDH and, as a result, the complicated structural modeling and its parameterization, indispensable to conventional model-based strategies, can be completely eliminated. In addition, since the proposed GMDH-based model can achieve the generalization ability for table drive conditions, the robust compensation for friction can be attained against the change of drive conditions. Experimental results using a table drive system of actual machine tools show the significant performance improvement of the proposed algorithm in the trajectory control with velocity reversal motion.