Abstract
This paper presents a new dynamic friction model based on a static friction model and a linear parameter-varying first-order lowpass filter. The static model considers viscous, Coulomb, and Stribeck friction and is defined by continuous functions, yielding a smooth force transition at standstill. The adaptive filter changes its time constant dependent on the actual velocity and supplements the static model with hysteresis and memory effect. The combination of both parts offers a high accuracy in simulations using high sample rates and shows a numerically robust behaviour and a good qualitative representation of the friction for small sample rates, making it applicable for practical control tasks using an observer-based approach.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
