基于匹配追随算法的摩擦力自适应辨识与补偿研究

摘要

提出一种基于匹配追随算法的摩擦力自适应辨识与补偿新方法。该方法利用 正交多项式实现对系统中以摩擦力为主的非线性动态充分逼近与补偿，不要求任何摩 擦力模型。相对于基于线性化模型的自适应补偿算法，该算法具有 更高的优越性。基函数集的选取对该算法精度及计算量有重要影响，该算法给出了一种基于 残差分析法的基函数集优选方法。最后，通过仿真实验验证了该算法的有效性。%A new method for adaptive identification and compensation of frication based on the matching pursuit method was presented. This method appro ximates the no nlinear dynamics efficiently, which is mainly composed of friction in system, by orthogonal polynomials. This method does not require any model of friction, tha t is a model-free algorithm. It is superior to other adaptive compensation algo r ithm based on linearized model. The basis function set has important effect on t he precision and complexity of algorithm presented, a method to ch oose optimal basis functions set is provided based on the residual analysis meth od.