Dynamic Friction Models and Control Design

In this paper we propose two new dynamic friction models that include most of the relevant properties that friction has been observed to have (Stribeck effect, hysteresis behavior, spring-like characteristics in stiction and stick-slip regime). Properties of these models that are relevant to control...

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Bibliographic Details
Published inAmerican Control Conference, 1993 pp. 1920 - 1926
Main Authors de Wit, C. Canudas, Olsson, H., Astrom, K.J., Lischinsky, P.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.1993
Subjects
Automatic control
Control design
Delay
Friction
Large scale integration
Lubrication
Predictive models
Servomechanisms
Stability
Velocity control
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ISBN0780308603
9780780308602
DOI10.23919/ACC.1993.4793212

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Summary:In this paper we propose two new dynamic friction models that include most of the relevant properties that friction has been observed to have (Stribeck effect, hysteresis behavior, spring-like characteristics in stiction and stick-slip regime). Properties of these models that are relevant to control design are studied. In particular we analyse the dissipative properties of the models. New control strategies are investigated and stability results are presented.
ISBN:0780308603
9780780308602
DOI:10.23919/ACC.1993.4793212