Friction estimation in multimass systems

Bernard Friedland, Sofia Mentzelopoulou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations


An observer for estimating the vector of Coulomb friction force coefficients in a multimass system is presented. The vector is assumed to be a linear combination of sgn(·) functions of relative velocities of the contacting masses. Two different nonlinear observers are proposed to estimate the friction coefficients when the velocities of the masses can be measured. When only the positions of the masses can be measured, an additional (reduced-order observer) is used to estimate the velocities of the masses. Excellent performance of the proposed system in the presence of white noise, is demonstrated by simulation.

Original languageAmerican English
Title of host publicationAmerican Control Conference
PublisherPubl by IEEE
Number of pages5
ISBN (Print)0780308611, 9780780308619
StatePublished - 1993
EventProceedings of the 1993 American Control Conference Part 3 (of 3) - San Francisco, CA, USA
Duration: Jun 2 1993Jun 4 1993

Publication series

NameAmerican Control Conference


OtherProceedings of the 1993 American Control Conference Part 3 (of 3)
CitySan Francisco, CA, USA

ASJC Scopus subject areas

  • General Engineering


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