A novel friction model for predicting nonlinear friction dynamics

Anthony Chidolue Nnaji*, William Holderbaum, Victor Becerra

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

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In this paper a new dynamic friction model capable of modelling observed friction dynamics is presented. The model incorporates a pre-sliding friction function with non-local memory hysteresis features. Simulations showed the model's ability to predict known friction features. An experimental test-bed was developed and used for friction characterisation through a carefully designed set of experiments. The new model has one parameter more than the LuGre model, which are easy to estimate through system identification. System identification was performed to determine parameters of the proposed friction model as well as the LuGre and GMS models for the purposes of model performance comparison. Experimental and simulation results of the new dynamic friction model with the identified model parameters exhibited a strong correspondence with the results of the characterisation experiments, capturing known friction features. The new friction model being simple both in structure and implementation demonstrated superior capability for modelling friction phenomena than the LuGre and GMS friction models.

Original languageEnglish
Pages (from-to)105-120
Number of pages16
JournalInternational Journal of Modelling, Identification and Control
Issue number2
Early online date25 Apr 2022
Publication statusPublished - 1 Jun 2022


  • characterisation experiment
  • friction dynamics
  • friction models
  • friction regimes
  • Stribeck effect
  • system identification


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