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A new model for control of systems with friction

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4 Author(s)
De Wit, C.C. ; Lab. d''Automatique, CNRS, Grenoble, France ; Olsson, H. ; Astrom, K.J. ; Lischinsky, P.

In this paper 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 stiction, 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

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Automatic Control, IEEE Transactions on  (Volume:40 ,  Issue: 3 )