Port-Hamiltonian description and analysis of the LuGre friction model

Authors

Johan Koopman, Dimitri Jeltsema, Michel Verhaegen

Abstract

A port-Hamiltonian formulation of the LuGre friction model is presented that can be used as a building block in the physical modelling of systems with friction. Based on the dissipation structure matrix of this port-Hamiltonian LuGre model, an alternative proof can be given for the passivity conditions that are known in the literature. As a specific example, the interconnection of a mass with the port-Hamiltonian LuGre model is presented. It is shown that the lossless-interconnection structure and dissipation structure of the port-Hamiltonian LuGre model are consistent with those of this interconnection. As an additional example, the port-Hamiltonian formulation of a quarter-car system with a LuGre-based tyre model is presented.

Keywords

Friction; Modelling; Nonlinear systems; Port-Hamiltonian systems

Citation

• Journal: Simulation Modelling Practice and Theory
• Year: 2011
• Volume: 19
• Issue: 3
• Pages: 959–968
• Publisher: Elsevier BV
• DOI: 10.1016/j.simpat.2010.11.008

BibTeX

@article{Koopman_2011,
  title={{Port-Hamiltonian description and analysis of the LuGre friction model}},
  volume={19},
  ISSN={1569-190X},
  DOI={10.1016/j.simpat.2010.11.008},
  number={3},
  journal={Simulation Modelling Practice and Theory},
  publisher={Elsevier BV},
  author={Koopman, Johan and Jeltsema, Dimitri and Verhaegen, Michel},
  year={2011},
  pages={959--968}
}

Download the bib file

References

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