Friction Models and Friction Compensation

European Journal of Control

Volumn 4, Issue 3, 1998, Pages 176-195

  Olsson, H ^a   Astrom K J ^a   Canudas De Wit, C ^b   Gafvert M ^a   Lischinsky, P ^c  

^a LUND UNIVERSITY   (Sweden)

^b ENSIEG   (France)

^c UNIVERSIDAD DE LOS ANDES   (Venezuela)

Author keywords

Friction; Friction compensation; Models; Observers; Passivity

Indexed keywords

COMPUTER SIMULATION; INTERFACES (MATERIALS); MATHEMATICAL MODELS;

FRICTION COMPENSATION;

FRICTION;

EID: 0032308584     PISSN: 09473580     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0947-3580(98)70113-X     Document Type: Article

References (55)

1. Andersson S. Seminar at the Department of Automatic Control, Lund Institute of Technology, Lund, Sweden. 1993
2. Armstrong-Hélouvry B. Control of machines with friction. Kluwer Boston, MA 1991
3. Armstrong-Hélouvry B, Dupont P, Canudas de Wit C. A survey of models, analysis tools and compensation methods for the control of machines with friction. Automatica 1994; 30(7): 1083-1138
4. Baril CB. Control of mechanical systems affected by friction and other nondifferentiable nonlinearities. PhD thesis, Technion, Israel Institute of Technology, Haifa, Israel. 1993
5. Bliman P-A. Mathematical study of the Dahl's friction model. Eur J Mechanics: A/Solids 1992; 11(6): 835-848
6. Bliman P-A, Sorine M. Friction modelling by hysteresis operators: application to Dahl, sticktion and Stribeck effects. In: Proceedings of the conference 'Models of hysteresis'. Trento, Italy. 1991
7. Bliman P-A, Sorine M. A system-theoretic approach of systems with hysteresis: application to friction modelling and compensation. In: Proceedings of the second European control conference, Groningen, The Netherlands. 1993. pp 1844-1849
8. Bliman P-A, Sorine M. Easy-to-use realistic dry friction models for automatic control. In: Proceedings of 3rd European control conference, Rome, Italy. 1995. pp 3788-3794
9. Bowden FP, Tabor D. The friction and lubrication of solids. Oxford University Press, Oxford 1950
10. Bowden FP, Tabor D. The friction and lubrication of solids: Pari II. Oxford University Press, Oxford 1964
11. Canudas de Wit C, Aström KJ, Braun K. Adaptive friction compensation in DC motor drives. IEEE J Robotics Autom 1987; RA-3(6): 681-685
12. Canudas de Wit C, Lischinsky P. Adaptive friction compensation with partially known dynamic friction model. Int J Adaptive Control Signal Process 1997; 11(1) 65-80
13. Canudas de Wit C, Olsson H, Aström KJ, Lischinsky P. A new model for control of systems with friction. IEEE Trans. on Automatic Control 1995: 40(3) 419-425
14. Canudas de Wit C, Olsson H, Aström KJ, Lischinsky P. Dynamic friction models and control design. In: Proceedings of the 1993 American control conference, San Francisco, CA. 1993. pp 1920-1926
15. Canudas de Wit C, Lischinsky P. Adaptive friction compensation with partially known dynamic friction model. Int J Adaptive Control Signal Process (Special Issue on Adaptive Systems with Nonsmooth Nonlinearities) 1997; 11: 65-80
16. Courtney-Pratt J, Eisner E. The effect of a tangential force on the contact of metallic bodies. Proc R Soc 1957; A238: 529-550
17. Courtney-Pratt JS, Eisner E. The effect of a tangential force on the contact of metallic bodies. Proc R Soc 1956; A238: 529-550
18. Dahl P. A solid friction model. Technical Report TOR-0158(3107-18)-1, Aerospace Corporation, El Segundo, CA. 1968
19. Dahl P. Solid friction damping of spacecraft oscillations. AIAA Paper No. 75-1104 presented at the AIAA Guidance and Control Conference, Boston MA. 1975.
20. Dahl PE, Wilder R. Math model of hysteresis in piezo-electric actuators for precision pointing systems. Guidance Control 1985; 57: AAS paper no. AAS 885-011
21. Dahl PR. Solid friction damping of mechanical vibrations. AIAA J 1976; 14(12): 1675-1682
22. Canudas de Wit C, Kelly R. Passivity-based control design for robots with dynamic friction. In: IASTED Conference on robotics and manufacturing, Cancun, Mexico. May 1996
23. Leonard NE, Krishnaprasad P. Adaptive friction compensation for bi-directional low-velocity position tracking. In: Proceedings of the 31st conference on decision and control. Tucson Arizona 1992, pp 267-273
24. Friedland B, Park Y-J. On adaptive friction compensation. In: Proceedings of the IEEE conference on decision and control. 1991. pp 2899-2902
25. Gäfvert M. Comparison of two friction models. Master's thesis, Lund Institute of Technology. 1996
26. Ganseman C, Swevers J, Al-Bender F. An integrated friction model with improved presliding behaviour. In: 5th IFAC symposium on robot control, Nantes, France. 1997 159-164
27. Gilbart J, Winston G. Adaptive compensation for an optical tracking telescope. Automatica 1974; 10: 125-131
28. Haessig DA, Friedland B. On the modelling and simulation of friction. J Dyn Syst Meas Control Trans ASME 1991; 113(3): 354-362
29. Hägglund T. Praktisk processreglering (Process control in practice). 2nd edn. Studentlitteratur. Lund 1997
30. Harnoy A, Friedland B. Dynamic friction model of lubricated surfaces for precise motion control. In: Preprint No. 93-TC-1D-2. Society of Tribologists and Lubrication Engineers. 1993
31. Harnoy A, Friedland B. Modeling and simulation of elastic and friction forces in lubricated bearings for precise motion control. Wear 1994; 172: 155-165
32. Hess DP, Soom A. Friction at a lubricated line contact operating at oscillating sliding velocities. J Tribol 1990; 112: 147-152
33. Johannes VI, Green MA, Brockley CA. The role of the rate of application of the tangential force in determining the static friction coefficient. Wear 1973; 24: 381-385
34. Karnopp D. Computer simulation of slip-stick friction in mechanical dynamic systems. J Dyn Syst Meas Control 1985; 107(1): 100-103
35. Krasnoselskij MA, Pokrovskij AV. Systems with hysteresis. Springer, New York 1980
36. Lischinsky PA. Compensation de frottement et commande en position d'un robot hydraulique industriel. PhD thesis, Laboratoire d'Automatique de Grenoble -ENSIEG, France May, 1997
37. Morin AJ. New friction experiments carried out at Metz in 1831-1833. Proc French R Acad Sci 1833; 4: 1-128
38. Olsson H, Aström KJ. Observer based friction compensation. In: 35th IEEE conference on decision and control, Kobe, Japan. 1996 4345-4350
39. Olsson H. Control systems with friction. PhD thesis, Lund Institute of Technology, University of Lund. 1996
40. Olsson H, Aström KJ. Observer-based friction compensation. In: Proceedings of the 35th IEEE conference on decision and control, Kobe, Japan. December 1996. pp 4345-4350
41. Oppelt W. A historical review of autopilot development, research, and theory in Germany. J Dyn Syst Meas Control 1976; September: 215-223
42. Panteley E, Ortega R, Gäfvert M. An adaptive friction compensator for global tracking in robot manipulators. In: 5th IFAC symposium on robot control, Nantes, France. 1997
43. Pervozvanski A, Canudas de Wit C. Vibrational smoothing in systems with dynamic friction. Technical report, Laboratoire d'Automatique de Grenoble. 1997
44. Rabinowicz E. The nature of the static and kinetic coefficients of friction. J Appl Phys 1951; 22(11): 1373-1379
45. Rabinowicz E. Friction and wear of materials. 2nd edn. Wiley, New York 1995
46. Ramberg W, Osgood WR. Description of stress-strain curves by three parameters. Tech. Note 902, National Advisory Committee for Aeronautics, Washington. 1943
47. Reynolds O. On the theory of lubrication and its application to Mr. Beauchamp Tower's experiments, including an experimental determination of the viscosity of olive oil. Phil Trans R Soc 1886: 177: 157-234
48. Richardson RSH, Nolle H. Surface friction under time-dependent loads. Wear 1976; 37(1): 87-101
49. Sargin M. Stress-strain relationship for concrete and the analysis of structural concrete sections. SM Study 4, Solid Mechanics Division, University of Waterloo, Canada. 1971
50. SKF. General catalogue. Gothenburg, Sweden 1970
51. Sorine M, Constancis P. Mathematic Systems theory: the influence of R.E. Kalman, chapter on adaptive solid friction compensation for high accuracy stabilization of optronic systems. Springer-Verlag, Berlin. 1991
52. Stribeck R. Die wesentlichen Eigenschaften der Gleitund Rollenlager: the key qualities of sliding and roller bearings. Z Vereines Deutsch Ingen 1902; 46(38,39): 1342-1348, 1432-1437
53. Suh NP. Tribophysics. Prentice-hall, Englewood Cliffs, NJ 1985
54. Visintin A. Differential models of hysteresis. Springer, Berlin 1994
55. Walrath C. Adaptive bearing friction compensation based on recent knowledge of dynamic friction. Automatica 1984; 20(6): 717-727