Analysis and Model-Based Control of Servomechanisms With Friction

[+] Author and Article Information
Evangelos G. Papadopoulos, Georgios C. Chasparis

Department of Mechanical Engineering, National Technical University of Athens, 15780 Athens, Greece

J. Dyn. Sys., Meas., Control 126(4), 911-915 (Mar 11, 2005) (5 pages) doi:10.1115/1.1849245 History: Revised March 25, 2004; Received November 29, 2004; Online March 11, 2005
Copyright © 2004 by ASME
Your Session has timed out. Please sign back in to continue.


Armstrong-Helouvry,  B., Dupont,  P., and Canudas de Wit,  C., 1994, “A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines With Friction,” Automatica, 30, pp. 1083–1138.
Armstrong, B., 1991, Control of Machines with Friction, Kluwer Academic Publishers, Boston, MA.
Popovic, M. R., and Goldenberg, A. A., 1999, “Friction Diagnostics and Modeling Using DFT Analysis,” Proc. of 1997 IEEE Conference on Robotics and Automation, Albuquerque, NM, pp. 1669–1674.
Friedland, B., Mentzelopoulou, S., and Park, Y. J., 1993, “Friction Estimation in Multimass Systems,” Proc. of the 1993 American Control Conference, San Francisco, CA, Vol. 2, pp. 1927–1931.
Olsson,  H., Aström,  K. J., Canudas de Wit,  C., Gafvert,  M., and Lischinsky,  P., 1998, “Friction Models and Friction Compensation,” J. Eur. Control,4, pp. 176–195.
Karnopp,  D., 1985, “Computer Simulation of Stick-Slip Friction in Mechanical Dynamic Systems,” ASME J. Dyn. Syst., Meas. Control,107, pp. 100–103.
Altpeter, F., Ghorbel, F., and Longchamp, R., 1998, “Relationship Between Two Friction Models: A Singular Perturbation Approach,” Proc. of 37th IEEE Conference on Decision & Control, Tampa, FL, pp. 1572–1574.
Radcliffe, C. J., and Southward, S. C., 1990, “A Property of Stick-Slip Friction Models Which Promotes Limit Cycle Generation,” Proc. of the American Control Conference, Vol. 2, pp. 1198–1203.
Armstrong-Helouvry,  B., and Amin,  B., 1996, “PID Control in the Presence of Static Friction: A Comparison of Algebraic and Describing Function Analysis,” Automatica, 32, pp. 679–692.
Armstrong-Helouvry, B., and Amin, B., 1993, “PID Control in the Presence of Static Friction, Part II: The Reliability of Describing Function Predictions,” Technical Report, Dept. of Electrical Engineering and Computer Science, University of Wisconsin—Milwaukee, Report No. EE-93-2.
Wallenborg, A., and Aström, K. J., 1988, “Limit Cycle Oscillations in High Performance Robot Drives,” Proc. of IEEE International Conference CONTROL ’88, pp. 444–449.
Armstrong-Helouvry, B., and Amin, B., 1994, “PID Control in the Presence of Static Friction: Exact and Describing Function Analysis,” Proc. of the American Control Conference, Baltimore, MD.
Canudas de Wit,  C., 1993, “Robust Control for Servo-Mechanism Under Inexact Friction Compensation,” Automatica, 29, pp. 757–761.
Ogata, K., 1970, Modern Control Engineering, Prentice–Hall, Englewood Cliffs, NJ.
Chasparis, G., “Design of a Servomechanism Control System With Friction Compensation,” Master’s Thesis, Department of Mechanical Engineering, Athens, Greece, 2001 (in Greek).
Papadopoulos, E., and Chasparis, G., “Analysis and Model-Based Control of Servomechanisms With Friction,” Proc. of the 2002 IEEE/RSG Int. Conference on Intelligent Robots and Systems (IROS ’02), Lausanne, Switzerland, October 2002.


Grahic Jump Location
(a) The Static-plus-Coulomb-plus-Viscous (SCV) friction model; (b) The General Kinetic Friction (GK) model  
Grahic Jump Location
(a) Servomechanism experimental setup including sensors, amplifier, and controller; (b) system schematic
Grahic Jump Location
Position-mean control voltage for several constant velocities and for the two directions of motion  
Grahic Jump Location
Block diagram of the system with friction compensation and PD control
Grahic Jump Location
Block diagram of the system with Model-Based Control and friction compensation
Grahic Jump Location
Typical tracking error responses and respective control voltages



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In