Control of friction-driven systems

There exist many examples of friction-driven systems, where the transfer of power between the actuators (master) and the system to be controlled (slave) is done via a friction interface. Examples of such a systems are piezoelectric actuators, and vehicles. This paper is devoted to study the control design for such a systems. The paper first presents the "kinematic" control where the velocity of the master system is seen as the control input. We then extend the control design to the case where the slave system dynamics is also considered. Finally we also study some robustness issues, concerning the disturbance rejection properties of the slave system. Some simulations are presented.