Skip to Main content Skip to Navigation
Journal articles

Revisiting the LuGre friction model

Karl Johan Åström 1 Carlos Canudas de Wit 2
2 NECS [2007-2015] - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA [2007-2015] - Département Automatique
Abstract : In this article we first review properties of the LuGre model, including zero-slip displacement, invariance, and passivity. An extension to include velocity-dependent microdamping is also discussed. The resulting model is then used to analyze stick-slip motion. The analysis shows that stick-slip motion modeled by the LuGre model is a stiff system with different behavior in the stick and slip modes as well as dramatic transitions between these modes. The dependence of limit cycles on parameters is discussed along with the notion of rate dependence.
Document type :
Journal articles
Complete list of metadatas

Cited literature [33 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-00394988
Contributor : Carlos Canudas de Wit <>
Submitted on : Saturday, June 13, 2009 - 5:28:23 PM
Last modification on : Thursday, July 9, 2020 - 5:02:03 PM
Document(s) archivé(s) le : Friday, June 11, 2010 - 12:43:05 AM

File

LuGrerevisitedV15.pdf
Files produced by the author(s)

Identifiers

Citation

Karl Johan Åström, Carlos Canudas de Wit. Revisiting the LuGre friction model. IEEE Control Systems Magazine, Institute of Electrical and Electronics Engineers, 2008, 28 (6), pp.101-114. ⟨10.1109/MCS.2008.929425⟩. ⟨hal-00394988⟩

Share

Metrics

Record views

1016

Files downloads

16489