Friction is a complex phenomenon with negative effects on the precision of positioning systems. In this work, a single-state friction model for control purposes, aimed to simplify the implementation of control algorithms while keeping a good performance in friction compensation, is analyzed. In particular, the model is capable or representing the Stribeck curve, rate independent presliding hysteresis with non-local memory and non-drifting behavior. This model has been tested on an experimental setup based on a linear motor, and its performance is compared to that of the Generalized Maxwell-slip model, showing better performance on the tracking error.
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Flores et al. (2018) studied this question.
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