Survey on modeling and control for motion systems with friction

Yi Ti Shih*, An-Chen Lee

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

10 Scopus citations


Friction is one of the major limitations in performing high precision motion systems. In recent years, considerable progress has been made in modeling the friction behavior and friction compensation. This survey includes various models and compensation methods provided in many research papers. In general, friction models can be classified as static and dynamic models. Dynamic models are more complex then the static ones, but they provide more information and avoid switching between models. Some of the dynamic models particularly focus on describing the friction characteristics in presiding region. The control or compensation methods for friction involve open-loop and closed-loop methods. While the open-loop control method includes dither signal control and impulse control, etc., and the closed-loop methods include high-gain control and adaptive control, etc. The friction-model-based controller design needs a suitable friction model as a reference; however, there is no conclusion of what is the best model corresponding to a certain control algorithm. Different friction models will be listed first. Next to the modeling, some identification techniques about friction models are discussed. After that, an overview of various control techniques is included.

Original languageEnglish
Pages (from-to)337-352
Number of pages16
JournalJournal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao
Issue number4
StatePublished - 1 Aug 2003


  • Friction compensation
  • Friction model


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