A survey of models, analysis tools and compensation methods for the control of machines with friction

While considerable progress has been made in friction compensation, this is, apparently, the first survey on the topic. In particular, it is the first to bring to the attention of the controls community the important contributions from the tribology, lubrication and physics literatures. By uniting these results with those of the controls community, a set of models and tools for friction compensation is provided which will be of value to both research and application engineers. The successful design and analysis of friction compensators depends heavily upon the quality of the friction model used, and the suitability of the analysis technique employed. Consequently, this survey first describes models of machine friction, followed by a discussion of relevant analysis techniques and concludes with a survey of friction compensation methods reported in the literature. An overview of techniques used by practising engineers and a bibliography of 280 papers is included.