Parameter estimation for the LuGre friction model using interval analysis and set inversion

The purpose of This work is to use bounded error estimation (BEE) approach based on interval analysis and set inversion in order to obtain guaranteed estimation interval for the LuGre friction model parameters. The method assumes that if the errors corrupting the measurements are available and bounded, then the set of all parameters, which are consistent with data output, and these errors (uncertainties) are computed. The main advantage of this method in comparison with the classical ones, as the least square (LS) approach, is that it provides not only the estimate of the parameters but also the precision with which the estimated values is obtained. Moreover, as it´s global, it bypasses the problem of initialization. To validate the proposed approach, experimental data are collected from an actuating electro-pneumatic device, and are used to estimate the friction parameters.