Geometric control of sliding friction

Control of Planar Rigid Body Sliding with Impacts and Friction

In this paper we continue our investigations into robotic air hockey by studying the problem of controlling the trajectory of a puck subject to intermittent impacts. Impacts are modeled using the Routh two-dimensional impact model which incorporates spin and friction. Using this model, we derive an explicit mapping between pre-impact and post-impact velocities of the puck. We will see that this...

Control of structures with friction controllable sliding isolation bearings

A friction controllable sliding isolation system was developed and experimentally and analytically investigated by Feng et al. (Feng, Q., Shinozuka, M. & Fujii, S. A. friction controllable sliding isolation system. J. Eng. Mech., ASCE, 1993, 119(6), in press), the control algorithm having been developed based on a key assumption that the structural motion is always in the sliding phase. However...

Submicrometer Friction Compensation Using Variable-gain Sliding Mode Control

The paper discusses a sliding mode control suitable for compensation of nonlinear microdynamic friction and parameter changes in a ball-screw driven slide system. The conventional, fixed-gain sliding mode control has a limited range of performance in the presence of varying nonlinear friction in submicrometer trajectory tracking. In this work, an algorithm that effectively calculates variable s...

Sliding Objects with Random Friction

We study the motion of elastic networks driven over a random substrate. Our model which includes local friction forces leads to complex dynamical behavior. We find a transition to a sliding state which belongs to a new universality class. The phase diagram comprises of a pinned state, a stick-slip motion phase, and a free motion phase.

Simulations of atomic-scale sliding friction.