Friction Models and Friction Compensation

Summary, in English

This paper reviews friction phenomena and friction models of interest for automatic control. Particular emphasis is given to two recently developed dynamic friction models, the Bliman-Sorine model and the LuGre model. These models capture many frictional phenomena observed in laboratory experiments. The behaviors of the models in different situations are discussed in detail. Methods for friction compensation are presented and illustrated with results from practical experiments.

• Author: Carlos Canudas de Wit; Henrik Olsson; Karl Johan Åström; Magnus Gäfvert; Pablo Lischinsky
• Department/s: Department of Automatic Control
• Publishing year: 1998
• Language: English
• Publication/Series: European Journal of Control
• Volume: 4
• Issue: 3
• Links: http://www.sciencedirect.com/science/article/pii/S094735809870113X
• Document type: Journal article
• Publisher: Lavoisier
• Topic: Control Engineering
• Status: Published
• ISBN/ISSN/Other: ISSN: 1435-5671