Identification of pre-sliding and sliding friction dynamics: Grey box and black-box models

The non-linear dependence of pre-sliding and sliding friction forces on displacement and velocity is modelled using different physics-based and black-box approaches including various Maxwell-Slip models, neural networks, nonparametric (local) models and recurrent networks. The efficiency and accuracy of these identification methods is compared for an experimental time series where the observed friction force is predicted from the measured displacement and estimated velocity. All models, although varying in their degree of accuracy, show good prediction capability of friction. Finally, it is shown that better results can be achieved by using an ensemble of the best models for prediction. r 2005 Elsevier Ltd. All rights reserved.