IDENTIFICATION OF THE NONLINEAR FRICTION CHARACTERISTICS IN A HYDRAULIC ACTUATOR USING THE EXTENDED KALMAN FILTER

In this paper, the nonlinear friction characteristic of a custom made symmetrical linear hydraulic actuator is investigated using the Extended Kalman Filter (EKF). A new and very accurate characterization of friction is made by using a quadratic function of the piston velocity. Further to this proposed empirical friction model, the EKF is used to estimate the function coefficients. In this paper, an iterative approach is used to maintain system …