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Journal articles on the topic 'LuGre friction model'

Author: Grafiati

Published: 4 June 2021

Last updated: 1 February 2022

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1

Do, Nguyen B., Aldo A. Ferri, and Olivier A. Bauchau. "Efficient Simulation of a Dynamic System with LuGre Friction." Journal of Computational and Nonlinear Dynamics 2, no. 4 (March 18, 2007): 281–89. http://dx.doi.org/10.1115/1.2754304.

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Friction is a difficult phenomenon to model and simulate. One promising friction model is the LuGre model, which captures key frictional behavior from experiments and from other friction models. While displaying many modeling advantages, the LuGre model of friction can result in numerically stiff system dynamics. In particular, the LuGre friction model exhibits very slow dynamics during periods of sticking and very fast dynamics during periods of slip. This paper investigates the best simulation strategies for application to dynamic systems with LuGre friction. Several simulation strategies are applied including the explicit Runge–Kutta, implicit Trapezoidal, and implicit Radau-IIA schemes. It was found that both the Runge–Kutta and Radau-IIA methods performed well in simulating the system. The Runge–Kutta method had better accuracy, but the Radau-IIA method required less integration steps.

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2

Johanastrom, Karl, and Carlos Canudas-de-Wit. "Revisiting the LuGre friction model." IEEE Control Systems 28, no. 6 (December 2008): 101–14. http://dx.doi.org/10.1109/mcs.2008.929425.

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3

Freidovich, Leonid, Anders Robertsson, Anton Shiriaev, and Rolf Johansson. "LuGre-Model-Based Friction Compensation." IEEE Transactions on Control Systems Technology 18, no. 1 (January 2010): 194–200. http://dx.doi.org/10.1109/tcst.2008.2010501.

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4

Zheng, Ya Qing. "Parameter Identification of LuGre Friction Model for Robot Joints." Advanced Materials Research 479-481 (February 2012): 1084–90. http://dx.doi.org/10.4028/www.scientific.net/amr.479-481.1084.

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The LuGre friction model well captures most of the friction behavior, but it was very difficult to identify the parameters of the LuGre model. The LuGre friction model, theory of static and dynamic parameters identification of the LuGre model as well as the algorithm based on particle swarm optimization are summarized according to the previous work. Then the programs for the static and dynamic parameters identification are made and analyzed in the environment of Matlab software in detail, and the identification results are given. The work mentioned above will lay the theoretical foundation for the future experimental validations and provide the detailed models, algorithms and programs for the corresponding research issues.

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5

Rajapakshe, M. P., M. Gunaratne, and A. K. Kaw. "Evaluation of LuGre Tire Friction Model with Measured Data on Multiple Pavement Surfaces." Tire Science and Technology 38, no. 3 (September 1, 2010): 213–27. http://dx.doi.org/10.2346/1.3481671.

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Abstract Accurate modeling of tire/pavement friction phenomena is of utmost importance in many applications such as vehicle braking control and frictional evaluation of pavements. LuGre tire friction model is a model which is used for this purpose by estimating its parameters using measured pavement friction data. In this investigation, LuGre model parameters were estimated using field data collected by a standard pavement friction measuring device (Locked Wheel Skid Trailer-ASTM E 274) at a group of pavements with different surface friction properties. Adequacy of the model to predict measured friction data from the device was statistically evaluated and the accuracy of estimated model parameters was determined. The results show the potential of this model to facilitate frictional evaluation of pavements using dynamic friction measuring equipment.

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6

Krasmik, Viktor, and Josef Schlattmann. "An extended LuGre friction model incorporating frictional aging." PAMM 16, no. 1 (October 2016): 283–84. http://dx.doi.org/10.1002/pamm.201610130.

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7

Liu, Y. F., J. Li, Z. M. Zhang, X. H. Hu, and W. J. Zhang. "Experimental comparison of five friction models on the same test-bed of the micro stick-slip motion system." Mechanical Sciences 6, no. 1 (March 6, 2015): 15–28. http://dx.doi.org/10.5194/ms-6-15-2015.

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Abstract. The micro stick-slip motion systems, such as piezoelectric stick-slip actuators (PE-SSAs), can provide high resolution motions yet with a long motion range. In these systems, friction force plays an active role. Although numerous friction models have been developed for the control of micro motion systems, behaviors of these models in micro stick-slip motion systems are not well understood. This study (1) gives a survey of the basic friction models and (2) tests and compares 5 friction models in the literature, including Coulomb friction model, Stribeck friction model, Dahl model, LuGre model, and the elastoplastic friction model on the same test-bed (i.e. the PE-SSA system). The experiments and simulations were done and the reasons for the difference in the performance of these models were investigated. The study concluded that for the micro stick-slip motion system, (1) Stribeck model, Dahl model and LuGre model all work, but LuGre model has the best accuracy and (2) Coulomb friction model and the elastoplastic model does not work. The study provides contributions to motion control systems with friction, especially for micro stick-slip or step motion systems as well as general micro-motion systems.

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8

Liu, Bai Xi, and Hong Zhao Liu. "Dynamic Analysis of the Sucker-Rod Pumping System of Deviated Well Based on LuGre Friction Model." Advanced Materials Research 139-141 (October 2010): 2346–49. http://dx.doi.org/10.4028/www.scientific.net/amr.139-141.2346.

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Based on the LuGre friction model, the nonlinear dynamic characteristic of a sucker-rod pumping system of deviated well is simulated. Firstly, the LuGre friction model is introduced, and the values of its six model parameters, which satisfy the engineering’s needs, are obtained according to handbook and computation. Then, the vibration of the rod of sucker-rod pumping system is regarded as an axial vibration of multi-segment flexible rod. The loads analysis of rod element is accomplished by means of the finite element method, and recurrence formulas of load and elastic deformation are derived through the finite difference method. The boundary and initial conditions of the load and deformation are evaluated. In the end, a numerical example is given, where a comparison between the elastic deformation of pumping piston obtained based on LuGre friction model and that obtained based on classical Coulomb friction model is made to show that the LuGre friction model describe the friction of sucker-rod pumping system better.

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9

XIANG, Hongbiao. "Adaptive Friction Compensation Based on LuGre Model." Journal of Mechanical Engineering 48, no. 17 (2012): 70. http://dx.doi.org/10.3901/jme.2012.12.070.

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10

Jiménez, René, and Luis Álvarez-Icaza. "LuGre friction model for a magnetorheological damper." Structural Control and Health Monitoring 12, no. 1 (October 11, 2004): 91–116. http://dx.doi.org/10.1002/stc.58.

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11

Pan, Qing, Ming Hui Huang, and Yi Bo Li. "Modeling and Identification of Friction Behaviors of Hydraulic Forging Press Machine." Applied Mechanics and Materials 328 (June 2013): 77–83. http://dx.doi.org/10.4028/www.scientific.net/amm.328.77.

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A novel modified LuGre friction model is proposed by taking pressure of the cylinders into consideration. And a practical identification method to estimate the parameters associated with the modified friction model is presented. The validity of the modified model is investigated experimentally. It is shown that the modified LuGre model can demonstrate the comprehensive friction behaviors of the forging machine with a fairly good accuracy.

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12

Wang, Xingjian, Siru Lin, and Shaoping Wang. "Dynamic Friction Parameter Identification Method with LuGre Model for Direct-Drive Rotary Torque Motor." Mathematical Problems in Engineering 2016 (2016): 1–8. http://dx.doi.org/10.1155/2016/6929457.

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Attainment of high-performance motion/velocity control objectives for the Direct-Drive Rotary (DDR) torque motor should fully consider practical nonlinearities in controller design, such as dynamic friction. The LuGre model has been widely utilized to describe nonlinear friction behavior; however, parameter identification for the LuGre model remains a challenge. A new dynamic friction parameter identification method for LuGre model is proposed in this study. Static parameters are identified through a series of constant velocity experiments, while dynamic parameters are obtained through a presliding process. Novel evolutionary algorithm (NEA) is utilized to increase identification accuracy. Experimental results gathered from the identification experiments conducted in the study for a practical DDR torque motor control system validate the effectiveness of the proposed method.

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13

Eom, Myung-Whan, Cheol-Joong Kim, and Dong-Kyoung Chwa. "Friction Compensation of the Pendubot based on the LuGre Model." Transactions of The Korean Institute of Electrical Engineers 60, no. 4 (April 1, 2011): 848–55. http://dx.doi.org/10.5370/kiee.2011.60.4.848.

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14

Wu, Zhimin. "Adaptive block compensation trajectory tracking control based on LuGre friction model." International Journal of Advanced Robotic Systems 16, no. 5 (September 1, 2019): 172988141987321. http://dx.doi.org/10.1177/1729881419873212.

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Aiming at the problems of modeling error and uncertain external disturbance in the multi-joint robot control model, an adaptive block compensation trajectory tracking controller based on LuGre friction model is proposed. Firstly, the algorithm divides the interference term of LuGre friction model into three parts with different physical quantities. Secondly, an adaptive neural network compensator is designed to assess the three parts of the LuGre friction model. Thirdly, a robust sliding mode controller is developed to reduce the influence of these estimation errors of neural network compensator and other uncertain disturbances and ensure that the system converges in a finite time at the same time. Finally, numerical simulations under different input and disturbance signals for the planar multi-joint robot and the inverted pendulum are conducted to validate the effectiveness of the proposed controller, and the performance of the proposed controller is compared with conventional sliding mode controller to illustrate the usefulness and efficiency of the proposed controller.

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15

Chen, Xiulong, Shuai Jiang, and Yu Deng. "Dynamic Responses of Planar Multilink Mechanism considering Mixed Clearances." Shock and Vibration 2020 (March 16, 2020): 1–18. http://dx.doi.org/10.1155/2020/8725845.

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Translational and revolute joints are the main kinds of joints in planar multilink mechanisms. Translational and revolute clearance joints have great influence on dynamical responses of planar mechanisms. Most research studies mainly focused upon revolute clearance of planar mechanisms based upon the modified Coulomb friction model, some studies investigated clearance of the pin-slot joint, and few studies researched mixed clearances (considering both translational clearance and revolute clearance) based on the LuGre friction model. Dynamic response of the 2-DOF nine-bar mechanism considering mixed clearances based on the LuGre model is investigated in this work. The dynamic model with mixed clearances is built by the Lagrange multipliers. Dynamic responses including motion output of the slider, driving torques, contact forces, shaft center trajectories at revolute clearance pairs, and slider trajectory inside the guide are analyzed, respectively. Influences of different friction models on dynamic responses are studied, such as LuGre and modified Coulomb’s friction models. Effects of different clearance values and different driving speeds on dynamic responses with mixed clearances are both analyzed. Virtual prototype model considering mixed clearances is carried out through ADAMS to verify correctness.

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16

Wang, Sanxiu, Guang Chen, and Yueli Cui. "Design of Contour Error Coupling Controller Based on Neural Network Friction Compensation." Mathematical Problems in Engineering 2019 (October 20, 2019): 1–8. http://dx.doi.org/10.1155/2019/1420380.

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In two-axis servo contour motion control, friction and various uncertainties unavoidably exist, reducing the contour control accuracy. This paper proposes a neural network contour error coupling control method based on LuGre friction compensation, which includes a contour error calculation model, single-axis computed torque controller (CTC), and neural network friction compensation controller. The LuGre friction model can describe servo system’s complicated static and dynamic friction characteristics, and the RBF neural network has a universal approximation property to realize compensation control of friction. Simulation results indicate that the proposed contour error control method can effectively compensate for the effect of friction and improve contour control accuracy.

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17

Huang, Shiuh Jer, Chun Ming Chiu, and M. C. Huang. "LuGre Friction Model Estimation of a Precision Table and Sliding Mode Control Design." Solid State Phenomena 147-149 (January 2009): 264–71. http://dx.doi.org/10.4028/www.scientific.net/ssp.147-149.264.

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Piezoelectric friction actuating mechanism is chosen to construct long traveling range sub-micro X-Y positioning table. LuGre friction model is employed to simulate the friction dynamics of this positioning mechanism. The optimization scheme of Matlab toolbox is adopted to search the optimal friction model parameters. However, this piezoelectric actuating system has obvious nonlinear and time-varying dead-zone offset control voltage due to the static friction and preload. The estimated LuGre dynamic model is still not accurate enough for model-based precision control design. Hence, the adaptive sliding mode control (SMC) with robust behavior is employed to design the nonlinear controller for this piezoelectric friction actuating mechanism. The Laypunov-like design strategy is adopted to achieve the system stability criterion. The dynamic experimental results of the proposed nonlinear controllers are compared with that of a model-based PID controller, too.

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18

Jaiswal, Suraj, Jussi Sopanen, and Aki Mikkola. "Efficiency comparison of various friction models of a hydraulic cylinder in the framework of multibody system dynamics." Nonlinear Dynamics 104, no. 4 (June 2021): 3497–515. http://dx.doi.org/10.1007/s11071-021-06526-9.

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AbstractDynamic simulation of mechanical systems can be performed using a multibody system dynamics approach. The approach allows to account systems of other physical nature, such as hydraulic actuators. In such systems, the nonlinearity and numerical stiffness introduced by the friction model of the hydraulic cylinders can be an important aspect to consider in the modeling because it can lead to poor computational efficiency. This paper couples various friction models of a hydraulic cylinder with the equations of motion of a hydraulically actuated multibody system in a monolithic framework. To this end, two static friction models, the Bengisu–Akay model and Brown–McPhee model, and two dynamic friction models, the LuGre model and modified LuGre model, are considered in this work. A hydraulically actuated four-bar mechanism is exemplified as a case study. The four modeling approaches are compared based on the work cycle, friction force, energy balance, and numerical efficiency. It is concluded that the Brown–McPhee approach is numerically the most efficient approach and it is well able to describe usual friction characteristics in dynamic simulation of hydraulically actuated multibody systems.

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19

Tran, Xuan Bo, Van Lai Nguyen, and Khanh Duong Tran. "Effects of friction models on simulation of pneumatic cylinder." Mechanical Sciences 10, no. 2 (October 30, 2019): 517–28. http://dx.doi.org/10.5194/ms-10-517-2019.

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Abstract. This study examines effects of three friction models: a steady-state friction model (SS model), the LuGre model (LG model), and the revised LuGre model (RLG model) on the motion simulation accuracy of a pneumatic cylinder. An experimental set-up of an electro-pneumatic servo system is built, and characteristics of the piston position, the pressures in the two-cylinder chambers and the friction force are measured and calculated under different control inputs to the proportional flow control valves. Mathematical model of the electro-pneumatic servo system is derived, and simulations are carried out under the same conditions as the experiments. Comparisons between measured characteristics and simulated ones show that the RLG model can give the best agreement among the three friction models while the LG model can only simulate partly the stick-slip motion of the piston at low velocities. The comparison results also show that the SS model used in this study is unable to simulate the stick-slip motion as well as creates much oscillations in the friction force characteristics at low velocities.

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20

Couillard, Maxime, Patrice Masson, and Philippe Micheau. "Identification of Friction Parameters for Limited Relative Displacement Contacts." Shock and Vibration 16, no. 5 (2009): 481–93. http://dx.doi.org/10.1155/2009/692560.

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Damping using dry friction has long been recognized as an effective control method for many vibration problems. However, given the strong nonlinear nature of friction, the theoretical and experimental investigations of associated non-linear control methods are much more difficult than for linear control methods. Moreover, the difficulty of identifying friction models parameters for Limited Relative Displacement (LRD) contacts is still a subject of research. This study first proposes an identification procedure to evaluate the ability of the LuGre friction model to predict small amplitude (30μm–150μm) frictionally damped vibrations for a LRD contact. An experimental setup implementing an ideal frictionally damped Single Degree Of Freedom (SDOF) oscillator connected to an electrodynamic shaker is then presented to study friction damping. The simulation results are assessed against the experimental results, demonstrating that the identification procedure is well suited to estimate the parameters of the LuGre friction model and that the model captures very well the friction phenomenon for small amplitude vibrations.

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21

Guan, Hsin, Chun Guang Duan, and Ping Ping Lu. "The Friction Model of Dynamic-Wheel Model Based on LuGre Model." Applied Mechanics and Materials 556-562 (May 2014): 4288–92. http://dx.doi.org/10.4028/www.scientific.net/amm.556-562.4288.

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With the development of the simulator and the increase of vehicle model simulation frequency, the ring tire models become the research focus. The ring model considers the physical characteristics of the tire, thus it can more accurately describe the tire force transmission. State Key Laboratory of Automotive Simulation and Control of Jilin University has developed a dynamic wheel model. This model takes the tire crown part as a rigid-ring and describes the elasticity of the tire by using six spring-dampers to connect the rigid-ring with the wheel rim. This paper focuses on the logical judgment of dynamic, static friction between tire and road. Based on the logical analysis, the tire forces at transient process are researched in order to avoid oscillation. Based on the C language to build simulation program, and embed it into complex vehicle model to simulate different conditions, the simulation results show that the vehicle can start smoothly.

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22

Bo, Xuan Tran. "Nonlinear Control of a Pneumatic Actuator Based on a Dynamic Friction Model." Strojniški vestnik – Journal of Mechanical Engineering 67, no. 9 (September 15, 2021): 458–72. http://dx.doi.org/10.5545/sv-jme.2021.7236.

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This paper presents a new controller for the position of a pneumatic actuator. The controller is designed based on the multiple-surface sliding control method in combination with a frictional compensator. The multiple-surface sliding control method is applied to deal with the nonlinear characteristics of the pneumatic system, and the frictional compensator is applied to compensate for the friction force in the pneumatic actuator. The friction force is estimated based on a dynamic friction model (the LuGre model). Both simulation and experimental studies are done to evaluate the new controller. The evaluation results indicate significant improvement in the tracking position error of the new controller comparing to the multiple-surface sliding controller without friction compensation and other nonlinear controllers.

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23

Kikuuwe, Ryo. "A Brush-Type Tire Model with Nonsmooth Representation." Mathematical Problems in Engineering 2019 (December 17, 2019): 1–13. http://dx.doi.org/10.1155/2019/9747605.

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This paper proposes a brush-type tire model with a new mathematical representation. The presented model can be seen as a generic model that describes the distributed viscoelastic force and Coulomb-like friction force, which are balancing each other at each point, in the contact patch. The model is described as a partial differential algebraic inclusion (PDAI), which involves the set-valuedness to represent the static friction. A numerical integration algorithm for this PDAI is derived through the implicit Euler discretization along both space and time. Some numerical comparisons with Magic Formula and a LuGre-based tire model are presented. The results show that, with appropriate choice of parameters, the proposed model is capable of producing steady-state characteristics similar to those of Magic Formula. It is also shown that the proposed model realizes a proper static friction state, which is not realized with a LuGre-based tire model.

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24

Şahin, Osman Nuri, and Mehmet İsmet Can Dede. "Investigation of longitudinal friction characteristics of an omnidirectional wheel via LuGre model." Robotica 39, no. 9 (February 3, 2021): 1654–73. http://dx.doi.org/10.1017/s0263574720001423.

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SUMMARYIn recent years, omnidirectional wheels have found more applications in the design of automated guided vehicles (AGV). In this work, LuGre friction model is used for an omnidirectional wheel. A test setup that includes a single omnidirectional wheel is designed and constructed to identify the model parameters. With the help of the constructed test setup, the longitudinal friction characteristic of the omnidirectional wheel is obtained, and the model is verified via validation tests. In addition, for the first time, the effect of lateral frictional force on longitudinal motion is examined for an omnidirectional wheel through experiments.

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25

Tsiotras, Panagiotis, Efstathios Velenis, and Michel Sorine. "A LuGre Tire Friction Model With Exact Aggregate Dynamics." Vehicle System Dynamics 42, no. 3 (December 2004): 195–210. http://dx.doi.org/10.1080/00423110412331289835.

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26

Park, Nam-Gyu, Jin-Seon Kim, Joong-Jin Kim, and Jae-Ik Kim. "Vibration Simulation Using LuGre Friction Model for Cladding Tube Fretting Wear Analysis." Transactions of the Korean Society for Noise and Vibration Engineering 26, no. 1 (January 20, 2016): 55–62. http://dx.doi.org/10.5050/ksnve.2016.26.1.055.

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27

Kim, B. S., and S. I. Han. "Non-linear friction compensation using backstepping control and robust friction state observer with recurrent fuzzy neural networks." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 223, no. 7 (June 12, 2009): 973–88. http://dx.doi.org/10.1243/09596518jsce737.

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A robust precise tracking control for a servomechanical system with non-linear dynamic friction is presented. The LuGre friction that is adopted as a non-linear friction model contains both a directly immeasurable friction state variable and the uncertainty caused by incomplete parameter identification and change of the condition of contact surface. To provide an efficient solution to these problems, a composite robust control scheme is proposed, which consists of a robust friction state observer, a recurrent fuzzy neural network (RFNN) approximator, and an adaptive reconstructed error compensator with backstepping control. A robust friction state observer is designed to estimate the unknown internal state of the LuGre friction model. Next, a proposed RFNN scheme approximates the lumped friction torque uncertainty. Finally, an adaptive error compensator eliminates a reconstructed error arising from RFNN approximation. Some simulations and experiments for a ball-screw servosystem are carried out to demonstrate the performance of a proposed control scheme.

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28

Tran, XB, HT Dao, and KD Tran. "A new mathematical model of friction for pneumatic cylinders." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 230, no. 14 (July 2, 2015): 2399–412. http://dx.doi.org/10.1177/0954406215594828.

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This paper focuses on investigating friction behaviors in pre-sliding state and developing a new mathematical model of friction for pneumatic cylinders. Using pneumatic cylinders with different sizes, an experimental setup is made to measure friction force–displacement characteristics in pre-sliding state under various conditions of applied force and pressures in the cylinder chambers. A new mathematical model of friction is proposed by incorporating a hysteresis function into the new modified LuGre model. The friction behaviors of the pneumatic cylinders in pre-sliding state are clarified and the usefulness of the proposed mathematical model is verified through various experimental results.

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29

Wang, Xiao Jing, Wen Xuan Han, Xiao Cui, Shuo Ze Li, and Cheng Zhi Du. "Research on the Motor Friction Model of Electro-Hydraulic Servo System." Key Engineering Materials 579-580 (September 2013): 594–97. http://dx.doi.org/10.4028/www.scientific.net/kem.579-580.594.

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In order to improve the performance of the electro-hydraulic servo system, considering the special structure of servo motor, nonlinear model of the servo motor was established in time domain. Several friction models commonly used in project were introduced and applied to the simulation analysis of servo motor with friction torque. The simulation curves show the relationship between driving torque, friction torque, angular velocity and angular displacement. The result confirms the influence of the different friction torque model on the performance of motor, and the LuGre friction model is identified which is fit for the friction torque compensation. This study lays the foundation for the friction torque compensation of electro-hydraulic servo motor.

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30

Xie, Haibo, Zhibin Liu, and Huayong Yang. "Advancing Control for Shield Tunneling Machine by Backstepping Design with LuGre Friction Model." Mathematical Problems in Engineering 2014 (2014): 1–10. http://dx.doi.org/10.1155/2014/475191.

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Shield tunneling machine is widely applied for underground tunnel construction. The shield machine is a complex machine with large momentum and ultralow advancing speed. The working condition underground is rather complicated and unpredictable, and brings big trouble in controlling the advancing speed. This paper focused on the advancing motion control on desired tunnel axis. A three-state dynamic model was established with considering unknown front face earth pressure force and unknown friction force. LuGre friction model was introduced to describe the friction force. Backstepping design was then proposed to make tracking error converge to zero. To have a comparison study, controller without LuGre model was designed. Tracking simulations of speed regulations and simulations when front face earth pressure changed were carried out to show the transient performances of the proposed controller. The results indicated that the controller had good tracking performance even under changing geological conditions. Experiments of speed regulations were carried out to have validations of the controllers.

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31

Siami, Ali, and Hamid Reza Karimi. "Modelling and Identification of the Hysteretic Dynamics of Inerters." Designs 4, no. 3 (August 1, 2020): 27. http://dx.doi.org/10.3390/designs4030027.

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This paper deals with an experimental study on the modeling and identification of the hysterical behavior of inerters. Unlike existing methods that can only consider a constant inertance to capture a static model of the device, we develop three different dynamic models for a ball-screw type inerter. To eliminate the effects of the measurement noise, an empirical mode decomposition (EMD) method is proposed. Then, three dynamic models—the Dahl, LuGre and Bouc–Wen model—are used in order to model the friction behavior of the device. Using the least-square optimization method, the parameters of the models are estimated. The results of the tuned models are compared together within different frequencies. The good agreement between predicted and measured data shows that LuGre and Bouc–Wen models can be effective for modelling the hysteretic behavior of friction inside the inerter mechanism. It is also shown that the Bouc–Wen model has better correlation with the experimental results in all test frequencies and amplitudes.

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32

Robertsson, A., A. Shiriaev, and R. Johansson. "Friction compensation for nonlinear systems based on the lugre model." IFAC Proceedings Volumes 37, no. 13 (September 2004): 1159–64. http://dx.doi.org/10.1016/s1474-6670(17)31383-6.

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33

Koopman, Johan, Dimitri Jeltsema, and Michel Verhaegen. "Port-Hamiltonian description and analysis of the LuGre friction model." Simulation Modelling Practice and Theory 19, no. 3 (March 2011): 959–68. http://dx.doi.org/10.1016/j.simpat.2010.11.008.

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34

Gehb, C. M., S. Atamturktur, R. Platz, and T. Melz. "Bayesian Inference Based Parameter Calibration of the LuGre-Friction Model." Experimental Techniques 44, no. 3 (February 21, 2020): 369–82. http://dx.doi.org/10.1007/s40799-019-00355-7.

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35

Marques, Filipe, Łukasz Woliński, Marek Wojtyra, Paulo Flores, and Hamid M. Lankarani. "An investigation of a novel LuGre-based friction force model." Mechanism and Machine Theory 166 (December 2021): 104493. http://dx.doi.org/10.1016/j.mechmachtheory.2021.104493.

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36

Zeng, Xu, Shu Guang Zuo, and Xu Dong Wu. "Identification of Wear Coefficient in Archard Model Based on LuGre Friction Model." Advanced Materials Research 343-344 (September 2011): 28–32. http://dx.doi.org/10.4028/www.scientific.net/amr.343-344.28.

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Considering the mechanism interaction between the tire tread and road surface, a dynamic model is established based on LuGre friction model in this paper. The parameter identification of wear coefficient in Archard model is proceeded by simulation in accordance with the experiment data in the correlative references based on the computational method of abrasion loss in Archard model. The results show that this model can fit the experiment data well, provide a theoretic instruction to fulfill the tire wear prediction and lay the foundation of further research in this field.

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37

Alvarez, Luis, Jingang Yi, Roberto Horowitz, and Luis Olmos. "Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control." Journal of Dynamic Systems, Measurement, and Control 127, no. 1 (June 21, 2004): 22–32. http://dx.doi.org/10.1115/1.1870036.

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An adaptive control scheme for emergency braking of vehicles is designed based on a LuGre dynamic model for the tire-road friction. The wheel angular speed and longitudinal vehicle acceleration information are used to design a fast convergence observer to estimate the vehicle velocity and the internal state of the friction model. The unknown parameters of the dynamic friction model are estimated through a parameter adaptation law. A Lyapunov-based state estimator and a stabilizing braking controller are designed to achieve near to maximum braking capability of the vehicle. Underestimation of the maximum friction coefficient, a very desirable feature from the perspective of safety, is guaranteed by a proper choice of adaptation gains and initial values of the estimated friction parameters.

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Li, Bing, Yongde Zhang, Lipeng Yuan, and Xiaolin Xi. "Study on the Low Velocity Stability of a Prostate Seed Implantation Robot’s Rotatory Joint." Electronics 9, no. 2 (February 7, 2020): 284. http://dx.doi.org/10.3390/electronics9020284.

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Prostate cancer has one of the highest incidences of male malignant tumors worldwide. Its treatment involves the robotic implantation of radioactive seeds in the perineum, a safe and effective procedure for early, low-risk prostate cancer. In order to ensure precise positioning, the seed implantation needle is set at low terminal velocity. In this paper, the motion output position instability caused by the friction torque of the robot’s motor and rotating joint during low velocity motion was analyzed and studied. This paper also presents a compensation control method based on the LuGre friction model, which offers piecewise parameter identification with GA-PSO. First, based on an analysis of its structure and working principle, the friction torque model of the robotic system and the torque model of the driving motor are established, and the influence of friction torque on motion stability analyzed. Then, based on experimental data of the relationship between velocity and friction torque for no-friction compensation, the velocity point of the minimum torque of the rotating joint and the critical Stribeck velocity point were used for segmental parameter identification; cubic spline interpolation was used for segmental fitting. Furthermore, on the basis of the LuGre model identification method, parameter identification of the genetic algorithm-particle swarm optimization, and compensation control of the LuGre friction model, a control method is analysed and set forth. Malab2017a/Simulink simulation software was used to simulate and analyze the control method, and verify its feasibility. Finally, the cantilever prostate seed implantation robot system was tested to verify the effectiveness of the segmented identification method and the compensation control strategy. The results reveal that motion output position stability at low velocity meets the requirements of the cantilever prostate seed implantation robot, thus providing a vital reference for further research.

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Hensen, R. H. A., M. J. G. van de Molengraft, and M. Steinbuch. "Friction induced hunting limit cycles: A comparison between the LuGre and switch friction model." Automatica 39, no. 12 (December 2003): 2131–37. http://dx.doi.org/10.1016/s0005-1098(03)00234-6.

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Jiang, Shouling, Kun Zhang, Hui Wang, Donghu Zhong, Jinpeng Su, and Zengkai Liu. "Research on Adaptive Friction Compensation of Digital Hydraulic Cylinder Based on LuGre Friction Model." Shock and Vibration 2021 (May 24, 2021): 1–10. http://dx.doi.org/10.1155/2021/8854424.

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This paper aims to eliminate nonlinear friction from the performance of the digital hydraulic cylinder to enable it to have good adaptive ability. First, a mathematical model of a digital hydraulic cylinder based on the LuGre friction model was established, and then a dual-observer structure was designed to estimate the unobservable state variables in the friction model. The Lyapunov method is used to prove the global asymptotic stability of the closed-loop system using the adaptive friction compensation method. Finally, Simulink is used to simulate the system performance. The simulation results indicate that the addition of adaptive friction compensation control can effectively reduce system static error, suppress system limit loop oscillation, “position decapitation,” “speed dead zone,” and low-speed creep phenomena, and improve the overall performance of the digital hydraulic cylinder. The control method has practical application value for improving the performance index of the digital hydraulic cylinder.

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Kebairi, A., M. Becherif, M. El Bagdouri, and M. Wack. "Identification of An Engine Air Path Actuator With LuGre Friction Model*." IFAC Proceedings Volumes 45, no. 24 (September 2012): 243–48. http://dx.doi.org/10.3182/20120912-3-bg-2031.00050.

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Li, Zhiqiang, Dapeng Fan, and Shixun Fan. "LuGre-Model-Based Friction Compensation in Direct-Drive Inertially Stabilized Platforms." IFAC Proceedings Volumes 46, no. 5 (2013): 636–42. http://dx.doi.org/10.3182/20130410-3-cn-2034.00071.

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WEI, Qiong. "Control of Pneumatic Position Servo with LuGre Model-based Friction Compensation." Journal of Mechanical Engineering 54, no. 20 (2018): 131. http://dx.doi.org/10.3901/jme.2018.20.131.

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Shiriaev, Anton, Anders Robertsson, and Rolf Johansson. "Friction Compensation for Passive Systems Based on the LuGre Model 1." IFAC Proceedings Volumes 36, no. 2 (April 2003): 159–64. http://dx.doi.org/10.1016/s1474-6670(17)38884-5.

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Simoni, Luca, Manuel Beschi, Antonio Visioli, and Karl Johan Åström. "Inclusion of the dwell time effect in the LuGre friction model." Mechatronics 66 (April 2020): 102345. http://dx.doi.org/10.1016/j.mechatronics.2020.102345.

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Barahanov, N., and R. Ortega. "Necessary and sufficient conditions for passivity of the LuGre friction model." IEEE Transactions on Automatic Control 45, no. 4 (April 2000): 830–32. http://dx.doi.org/10.1109/9.847131.

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Yao, Jianyong, Wenxiang Deng, and Zongxia Jiao. "Adaptive Control of Hydraulic Actuators With LuGre Model-Based Friction Compensation." IEEE Transactions on Industrial Electronics 62, no. 10 (October 2015): 6469–77. http://dx.doi.org/10.1109/tie.2015.2423660.

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Grossi, F., and R. Zanasi. "Energetic Model of the Tire-Ground Interaction and Comparison with LuGre Friction Model." IFAC Proceedings Volumes 43, no. 7 (July 2010): 616–21. http://dx.doi.org/10.3182/20100712-3-de-2013.00073.

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Ali, Khurram, Adeel Mehmood, Israr Muhammad, Sohail Razzaq, and Jamshed Iqbal. "Control of an Anthropomorphic Manipulator using LuGre Friction Model - Design and Experimental Validation." Strojniški vestnik – Journal of Mechanical Engineering 67, no. 9 (September 15, 2021): 401–10. http://dx.doi.org/10.5545/sv-jme.2021.7258.

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Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough in flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy in these manipulators is essentially linked with the advancements in non-linear control systems. The objective of this research is to propose a robust control algorithm for a five degree of freedom (DOF) robotic arm to achieve superior performance and reliability in the presence of friction. A friction compensation-based non-linear control has been proposed and realized for the robotic manipulator. The dynamic model of the robot has been derived by considering the dynamic friction model. The proposed three-state model is validated for all the joints of the manipulator. The integral sliding mode control (ISMC) methodology has been designed; the trajectories of system every time begin from the sliding surface and it eliminates the reaching phase with assistance of integral term in the sliding surface manifold. The designed control law has been first simulated in Matlab/Simulink environment to characterize the control performance in terms of tracking of various trajectories. The results confirm the effectiveness of the proposed control law with model-based friction compensation. The transient parameters like settling and peak time have improvement as well have better results with friction than without considering the friction. The proposed control law is then realized on an in-house developed autonomous articulated robotic rducational platform (AUTAREP) and NI myRIO hardware interfaced with LabVIEW. Experimental results also witnessed the trajectory tracking by the robotic platform.

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Ullah, Nasim, and Shao Ping Wang. "Backstepping Control of Electrical Load Simulator with Adaptive Tracking Performance Controller." Applied Mechanics and Materials 245 (December 2012): 310–15. http://dx.doi.org/10.4028/www.scientific.net/amm.245.310.

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Electrical Load simulator (ELS) is an important aerodynamics forces/torque loading device which is used for qualification of flight actuation system in ground based experiments. This paper focuses on Backstepping control design with fuzzy logic compensator for extra torque disturbance. To reduce number of fuzzy rules and processing time LuGre model based friction compensation scheme is proposed. Practically fuzzy logic compensation may induce approximation error. A novel PI type tracking performance controller is proposed to compensate tracking error due to parametric uncertainty in the ELS system and LuGre friction model. The tracking performance controller is tuned online based on saturation function based adaptive law derived from the error dynamics between state predictor and actual plant to eliminate chattering from control signal. The validity of control scheme is verified using numerical simulations for desired tracking performance.

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