Stick-slip arising from Stribeck friction

The implications of Stribeck friction (a nonlinear low-velocity friction effect that contributes to and perhaps dominates stick-slip motion) for feedback control are explored. Through the use of dimensional analysis, the following are examined: (1) the minimum velocity below which stick-slip will occur; (2) the accuracy of sensing required to eliminate stick-slip by feedback control; (3) the slip distance during stick-slip motion; and (4) scaling of Stribeck friction and stick-slip. A seven-parameter friction-plus-control model is proposed; dimensional analysis is employed to reduce the degrees of freedom of this model to three