Low velocity friction identification and compensation using accelerated evolutionary programming

Provides an experimental identification and compensation method for the low-velocity friction of a positioning system. The low-velocity friction is identified by using a novel evolutionary algorithm, called accelerated evolutionary programming (AEP), which improves on evolutionary programming in terms of convergence speed and diversity. Based on the identified friction model, a compensation scheme is designed for the control of an X-Y table positioning system without stick-slip motion at very low velocities. Experimental results on the X-Y table demonstrate the effectiveness of the proposed scheme, especially for very low speed tracking