Friction Modeling and Compensation in Mechanical Systems

Friction is a pervasive nonlinearity in mechanical systems, arising at interfaces from the microscale asperities of surfaces and manifesting in macroscopic performance degradation, wear and control challenges. Accurate modelling of friction phenomena—encompassing static stiction, kinetic friction, velocity‐dependent behaviour and hysteresis—is essential for predicting system response in fields as diverse as automotive suspensions, precision manufacturing, robotics and aerospace actuation. Classical approaches such as Coulomb and viscous friction models capture basic resistance, while more advanced representations (for example the LuGre model) include internal state variables to account for pre-sliding displacement and the Stribeck effect. Experimental characterisation has revealed that factors such as load, velocity, lubrication state and temperature interact in complex ways, producing phenomena such as stick-slip oscillations and dynamic friction peaks that exceed quasi-static levels. Compensation strategies have evolved in parallel, ranging from feedforward friction observers and adaptive control laws to hybrid sliding-mode and neural network schemes that estimate and counteract nonlinear friction torques in real time. By integrating refined models with robust control algorithms, modern systems achieve higher tracking accuracy, reduced wear and extended lifetime, bolstering industrial productivity and vehicle comfort while enabling ever finer motion resolution in emerging micro- and nano-scale devices.

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Friction Modeling and Compensation in Mechanical Systems publication trend

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Technical terms

Stribeck curve: A plot of friction force versus sliding velocity that shows a characteristic drop from static to kinetic friction before rising again due to viscous effects.

LuGre model: A dynamic friction model incorporating an internal state variable to capture pre-sliding displacement, hysteresis and the Stribeck effect.

Stick-slip motion: An oscillatory phenomenon where contact surfaces alternately stick and slip, often causing unwanted vibrations and noise.

Extended state observer (ESO): A control observer that estimates both system states and unmodeled disturbances, such as friction torques, to improve compensation.

Sliding-mode control: A robust control method that forces system trajectories onto a predefined sliding manifold, offering insensitivity to bounded uncertainties.

References

1. Velocity and load dependent dynamic shock absorber friction at stationary conditions. Tribology International (2024).
2. A Review of Key Technologies for Friction Nonlinearity in an Electro-Hydraulic Servo System. Machines (2022).
3. Adaptive FIT-SMC Approach for an Anthropomorphic Manipulator With Robust Exact Differentiator and Neural Network-Based Friction Compensation. IEEE Access (2022).