March 1, 1995Open Access
A new model for control of systems with friction
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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.>
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Authors
C
Carlos Canudas de Wit
Institut polytechnique de Grenoble
H
Henrik Olsson
Swedish Defence Research Agency
Karl Johan Åström
Lund University
Journals
IEEE Transactions on Automatic Control
Actions
Institutions
Centre National de la Recherche Scientifique
Lund Science (Sweden)
References and Citations
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