This paper proposes a feedforward friction compensator based on LuGre friction model. The various parameters in both the friction model and the system plant model would be coarsely estimated by the various experiments, and then the genetic algorithm (GA) finely optimizes the key parameters by a single identification experiment. When compared with the conventional black box learning algorithm, t...

This work concerns the modelling and experimental verification of the highly nonlinear friction behavior in positioning on the nanometer scale. The main goal of this work is to adjust and identify a simple dynamic friction model which allows a model-based estimation of the friction force in combination with the system inertia against displacement. Experiments in the pre-sliding and sliding fric...

In the general framework of tracking control of hydraulic servo systems, this paper presents a comparison between two main possibilities to include friction information in the picture: experimental identification and estimation. Experiments were first conducted in order to find a suitable representation for friction in the system. We then looked at two observers reported in the literature (know...

The paper deals with experimental friction identificat ion method of a DC motor. For precise positioning tasks a friction phenomenon plays a large problem. For this a friction has to be identified and subsequently compensated if it is important. At first the paper deals with basic friction models. In the next section the DC motor mathemat ical model is stated. The DC motor friction identificat ...

In this paper, adaptive friction compensation is investigated using both model-based and neural network (non-model-based) parametrization techniques. After a comprehensive list of commonly used models for friction is presented, model-based and non-modelbased adaptive friction controllers are developed with guaranteed closed-loop stability. Intensive computer simulations are carried out to show ...

Formulating a consistent theory for rigidbody dynamics with impacts is an intricate problem. Twenty years ago Stewart published the first consistent theory with purely inelastic impacts and an impulsive friction model analogous to Coulomb friction. In this paper we demonstrate that the consistent impact model can exhibit multiple solutions with a varying degree of dissipation even in the single...

This paper presents a new model, called the "shear-friction truss model," for slender reinforced concrete beams to derive a clear and simple design equation for their ultimate shear strength. In this model, a portion of the shear strength is provided by shear reinforcement as in the traditional truss model, and the remainder by the shear-friction mechanism. Friction resistance is derived consid...

The incremental sheet metal forming (ISMF) process is a new and flexible method that is well suited for small batch production or prototyping. This paper studies the use of the finite element method in the incremental forming process of AA1050 sheets to investigate the influence of tool diameter, vertical step size, and friction coefficient on forming force, spring-back, and thickness distribut...

BACKGROUND/PURPOSE Friction blisters, a common injury in sports and military operations, can adversely effect or even halt performance. Given its frequency and hazardous nature, recent research efforts appear limited. Blistering can be treated as a delamination phenomenon; similar issues in materials science have been extensively investigated in theory and experiment. An obstacle in studying bl...