A NEW MODEL FOR CONTROL OF SYSTEMS WITH FRICTION

Authors
DEWIT CC OLSSON H ASTROM KJ LISCHINSKY P
Citation
Cc. Dewit et al., A NEW MODEL FOR CONTROL OF SYSTEMS WITH FRICTION, IEEE transactions on automatic control, 40(3), 1995, pp. 419-425
Citations number
17
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on automatic control → ACNP
ISSN journal
00189286
Volume
40
Issue
3
Year of publication
1995
Pages
419 - 425
Database
ISI
SICI code
0018-9286(1995)40:3<419:ANMFCO>2.0.ZU;2-1
Abstract
In this paper we propose a new dynamic model for friction. The model c aptures most of the friction behavior that has been observed experimen tally. This includes the Stribeck effect, hysteresis, spring-like char acteristics for stiction, and varying break-away force. Properties of the model that are relevant to control design are investigated by anal ysis and simulation. New control strategies, including a friction obse rver, are explored, and stability results are presented.