Print Email Facebook Twitter Port-Hamiltonian description and analysis of the LuGre friction model Title Port-Hamiltonian description and analysis of the LuGre friction model Author Koopman, J. Jeltsema, D. Verhaegen, M.H.G. Faculty Electrical Engineering, Mathematics and Computer Science Date 2010-11-21 Abstract A port-Hamiltonian formulation of the LuGre friction model is presented that can be used as a building block in the physical modelling 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 this interconnection. As an additional example, the port-Hamiltonian formulation of a quarter-car system with a LuGre-based tyre model is presented. Subject frictionmodellingnonlinear systemsPort-Hamiltonian systems To reference this document use: http://resolver.tudelft.nl/uuid:9f5fd3b8-29a8-4313-8650-a71e9e727141 DOI https://doi.org/10.1016/j.simpat.2010.11.008 Publisher Elsevier ISSN 1569-190X Source Simulation Modelling Practice and Theory, 19 (3), 2011 Part of collection Institutional Repository Document type journal article Rights (c) 2010 Elsevier Files PDF Koopman_2010.pdf 230.13 KB Close viewer /islandora/object/uuid:9f5fd3b8-29a8-4313-8650-a71e9e727141/datastream/OBJ/view