For control applications involving small displacements and velocities, friction modeling and compensation can be very important. In particular, the phenomena of stiction and presliding displacement (motion during sticking) can play pivotal roles. In this paper, it is shown that existing single-state-variable friction models possess either stiction or presliding displacement. Next, those models ...

For control applications involving small displacements and velocities, friction modeling and compensation can be very important. In particular, the modeling of presliding displacement (motion prior to fully developed slip) can play a pivotal role. In this paper, it is shown that existing single-state friction models exhibit a nonphysical drift phenomenon which results from modeling presliding a...