A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction

Armstronghelouvry B; Dupont P; Dewit CC

Automatica, Vol.30, No.7, 1083-1138, 1994

DOI10.1016/0005-1098(94)90209-7 Export Citation

A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction

This survey addresses contributions from the tribology, lubrication and physics literatures, as well as the controls literature, which are important for the understanding and compensation of friction in servo machines.

Keywords:NON-LINEAR SYSTEMS;ROBOT MANIPULATORS;STICK-SLIP;CONSTITUTIVE-EQUATIONS;NORMAL VIBRATIONS;DYNAMICS PROBLEM;ADAPTIVE-CONTROL;HARMONIC LOADS;ROCK FRICTION;SIMULATION