A new model for control of systems with friction

19953,584 citationsJournal Articlegreen Open Access

Authors

Carlos Canudas de Wit · Centre National de la Recherche Scientifique

Abstract

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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>

Topics & Keywords

Dynamics and Control of Mechanical Systems Control and Stability of Dynamical Systems Hydraulic and Pneumatic Systems

UN Sustainable Development Goals

Sustainable cities and communities

Publication Details

Published in: IEEE Transactions on Automatic Control

Volume 40, Issue 3, pp. 419-425

DOI: 10.1109/9.376053

Field-Weighted Citation Impact: 55.61