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Zbl 0821.93007
Canudas de Wit, C.; Olsson, H.; Åström, K.J.; Lischinsky, P.
(Wit, C. Canudas de)
A new model for control of systems with friction. (English)
[J] IEEE Trans. Autom. Control 40, No.3, 419-425 (1995). ISSN 0018-9286

Summary: We propose a new dynamic model for friction. The model captures most of the friction behavior that has been observed experimentally. This includes the Stribeck effect, hysteresis, spring-like characteristics for sticktion and varying break-away force. Properties of the model that are relevant to control design are investigated by analysis and simulation. New control strategies, including a friction observer, are explored, and stability results are presented.

MSC 2000:: *93A30 Mathematical modelling of systems
93D30 Scalar and vector Lyapunov functions
93B52 Feedback control
74A55 Theories of friction (tribology)
74M15 Contact
93B07 Observability

Keywords: dynamic model; friction; observer; stability

Cited in: Zbl 0981.93062

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