Title :
A new model for control of systems with friction
Author :
De Wit, C. Canudas ; Olsson, H. ; Astrom, K.J. ; Lischinsky, P.
Author_Institution :
Lab. d´´Automatique, CNRS, Grenoble, France
fDate :
3/1/1995 12:00:00 AM
Abstract :
In this paper 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 stiction, 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
Keywords :
control system synthesis; friction; nonlinear control systems; observers; stability; Stribeck effect; control strategies; dynamic model; friction observer; hysteresis; spring-like characteristics; stiction; varying break-away force; Analytical models; Control design; Control system synthesis; Control systems; Councils; Friction; Hysteresis; Limit-cycles; Predictive models; Stability;
Journal_Title :
Automatic Control, IEEE Transactions on
