A fractional order friction model.

A new dynamic model for friction is proposed based on the commonality between frictional order dynamics and friction behavior. The model can achieve accurate modeling both in the sliding and the pre-sliding region with fewer parameters. Simulation results of the FOFM are illustrated with the parameters identification using the particle swarm optimization algorithm. The simulation shows that the fractional order friction model (FOFM) can capture most of the friction behavior accurately, including the hysteresis, non-local memory, Stribeck effect, and friction lag with only 7 parameters. Experimental results are also carried out to demonstrate the superiority of the proposed FOFM in terms of modeling accuracy and complexity, comparing with the well-known GMS model.