Port-Hamiltonian formulation 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 modeling 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 the interconnection. Additionally, to render the friction model continuously differentiable, a smooth re-parametrization of the friction curve is proposed that extends and simplifies the existing results.

Citation

• Journal: 2008 47th IEEE Conference on Decision and Control
• Year: 2008
• Volume:
• Issue:
• Pages: 3181–3186
• Publisher: IEEE
• DOI: 10.1109/cdc.2008.4739351

BibTeX

@inproceedings{Koopman_2008,
  title={{Port-Hamiltonian formulation and analysis of the LuGre friction model}},
  DOI={10.1109/cdc.2008.4739351},
  booktitle={{2008 47th IEEE Conference on Decision and Control}},
  publisher={IEEE},
  author={Koopman, Johan and Jeltsema, Dimitri and Verhaegen, Michel},
  year={2008},
  pages={3181--3186}
}

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