Abstract:In the last decades, several friction models suitable for control purposes have been proposed, which are able to represent most of the observed friction behavior. However, this comes at the cost of an increased complexity, presenting in some cases switched dynamics, as in the generalized Maxwell-slip friction model. Thus, consideration of these models in control design certainly increases the complexity of stability proofs, and thus, their use in control design except for feedforward compensation. The purpose … Show more
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