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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