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A new model for control of systems with friction. (English) Zbl 0821.93007
Summary: 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 sticktion 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.

MSC:
93A30Mathematical modelling of systems
93D30Scalar and vector Lyapunov functions
93B52Feedback control
74A55Theories of friction (tribology)
74M15Contact (solid mechanics)
93B07Observability