Friction model with elasto-plasticity for advanced control applications

A novel nonlinear friction model with elasto-plasticity is proposed. Being in accordance with state-of-the-art friction properties the model provides a compact set of concentrated parameters and offers a complexity reduction when describing the hysteretic and the transient response of dynamic friction. Considering the first-order dynamic system with friction, both the pre-sliding and the gross sliding regimes are analyzed and identified from experiments. Intended for control applications the proposed model is used in feed-forwarding in order to improve the tracking performance of a standard linear control, above all at frequently velocity reversals.