{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,25]],"date-time":"2026-04-25T10:57:45Z","timestamp":1777114665946,"version":"3.51.4"},"reference-count":96,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2016,8,9]],"date-time":"2016-08-09T00:00:00Z","timestamp":1470700800000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001871","name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","doi-asserted-by":"publisher","award":["PD\/BD\/114154\/2016"],"award-info":[{"award-number":["PD\/BD\/114154\/2016"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001871","name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","doi-asserted-by":"publisher","award":["UID\/EEA\/04436\/2013"],"award-info":[{"award-number":["UID\/EEA\/04436\/2013"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100008530","name":"Fundo Europeu de Desenvolvimento Regional","doi-asserted-by":"crossref","award":["POCI-01-0145-FEDER-006941"],"award-info":[{"award-number":["POCI-01-0145-FEDER-006941"]}],"id":[{"id":"10.13039\/501100008530","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Nonlinear Dyn"],"published-print":{"date-parts":[[2016,11]]},"DOI":"10.1007\/s11071-016-2999-3","type":"journal-article","created":{"date-parts":[[2016,8,9]],"date-time":"2016-08-09T01:49:03Z","timestamp":1470707343000},"page":"1407-1443","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":425,"title":["A survey and comparison of several friction force models for dynamic analysis of multibody mechanical systems"],"prefix":"10.1007","volume":"86","author":[{"given":"Filipe","family":"Marques","sequence":"first","affiliation":[]},{"given":"Paulo","family":"Flores","sequence":"additional","affiliation":[]},{"given":"J. C.","family":"Pimenta Claro","sequence":"additional","affiliation":[]},{"given":"Hamid M.","family":"Lankarani","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2016,8,9]]},"reference":[{"key":"2999_CR1","unstructured":"Amontons, G.: De la resistance cause\u2019e dans les machines. M\u00e9moires de l\u2019Academie Royale des Sciences. 206\u2013226 (1699)"},{"key":"2999_CR2","unstructured":"Coulomb, C.A.: Th\u00e9orie des machines simples, en ayant \u00e9gard au frottement de leurs parties, et \u00e0 la roideur des cordages. M\u00e9moire de Math\u00e9matique et de Physique, Paris, France (1785)"},{"key":"2999_CR3","first-page":"1","volume":"4","author":"AJ Morin","year":"1833","unstructured":"Morin, A.J.: New friction experiments carried out at Metz in 1831\u20131833. Proc. Fr. R. Acad. Sci. 4, 1\u2013128 (1833)","journal-title":"Proc. Fr. R. Acad. Sci."},{"key":"2999_CR4","doi-asserted-by":"crossref","first-page":"1373","DOI":"10.1063\/1.1699869","volume":"22","author":"E Rabinowicz","year":"1951","unstructured":"Rabinowicz, E.: The nature of the static and kinetic coefficients of friction. J. Appl. Phys. 22, 1373\u20131379 (1951)","journal-title":"J. Appl. Phys."},{"key":"2999_CR5","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1002\/tt.3020030203","volume":"3","author":"SF \u015acieszka","year":"1996","unstructured":"\u015acieszka, S.F., Jankowski, A.: The importance of static friction characteristics of brake friction couple, and methods of testing. Tribotest 3, 137\u2013148 (1996)","journal-title":"Tribotest"},{"key":"2999_CR6","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1038\/scientificamerican0556-109","volume":"194","author":"E Rabinowicz","year":"1956","unstructured":"Rabinowicz, E.: Stick and slip. Sci. Am. 194, 109\u2013118 (1956)","journal-title":"Sci. Am."},{"key":"2999_CR7","doi-asserted-by":"crossref","first-page":"790","DOI":"10.1007\/BF00876539","volume":"116","author":"J Dieterich","year":"1978","unstructured":"Dieterich, J.: Time-dependent friction and the mechanics of stick-slip. Pure Appl. Geophys. 116, 790\u2013806 (1978)","journal-title":"Pure Appl. Geophys."},{"key":"2999_CR8","first-page":"33","volume":"35","author":"J Awrejcewicz","year":"2007","unstructured":"Awrejcewicz, J., Olejnik, P.: Occurrence of stick-slip phenomenon. J. Theor. Appl. Mech. 35, 33\u201340 (2007)","journal-title":"J. Theor. Appl. Mech."},{"key":"2999_CR9","doi-asserted-by":"crossref","first-page":"1211","DOI":"10.1016\/j.mechmachtheory.2007.11.001","volume":"43","author":"E Chatelet","year":"2008","unstructured":"Chatelet, E., Michon, G., Manin, L., Jacquet, G.: Stick\/slip phenomena in dynamics: choice of contact model. Numerical predictions & experiments. Mech. Mach. Theory 43, 1211\u20131224 (2008)","journal-title":"Mech. Mach. Theory"},{"key":"2999_CR10","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1016\/j.triboint.2014.03.011","volume":"75","author":"EJ Berger","year":"2014","unstructured":"Berger, E.J., Mackin, T.J.: On the walking stick-slip problem. Tribol. Int. 75, 51\u201360 (2014)","journal-title":"Tribol. Int."},{"key":"2999_CR11","unstructured":"Zeitschrift des Vereines Deutscher Ingenieure Die wesentlichen Eigenschaften der Gleitund Rollenlager. 46, 1342\u20131348 (1903). (1432\u20131438, 1463\u20131470)"},{"key":"2999_CR12","doi-asserted-by":"crossref","first-page":"529","DOI":"10.1098\/rspa.1957.0016","volume":"238","author":"J Courtney-Pratt","year":"1957","unstructured":"Courtney-Pratt, J., Eisner, E.: The effect of a tangential force on the contact of metallic bodies. Proc. R. Soc. 238, 529\u2013550 (1957)","journal-title":"Proc. R. Soc."},{"key":"2999_CR13","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/S0043-1648(00)00399-9","volume":"242","author":"C Hsieh","year":"2000","unstructured":"Hsieh, C., Pan, Y.-C.: Dynamic behavior and modelling of the pre-sliding static friction. Wear 242, 1\u201317 (2000)","journal-title":"Wear"},{"key":"2999_CR14","doi-asserted-by":"crossref","first-page":"371","DOI":"10.1098\/rspa.1939.0004","volume":"169","author":"FP Bowden","year":"1939","unstructured":"Bowden, F.P., Leben, L.: The nature of sliding and the analysis of friction. Proc. R. Soc. Lond., Ser. A, Math. Phys. Sci. 169, 371\u2013391 (1939)","journal-title":"Proc. R. Soc. Lond., Ser. A, Math. Phys. Sci."},{"key":"2999_CR15","doi-asserted-by":"crossref","first-page":"381","DOI":"10.1016\/0043-1648(73)90166-X","volume":"24","author":"VI Johannes","year":"1973","unstructured":"Johannes, V.I., Green, M.A., Brockley, C.A.: The role of the rate of application of the tangential force in determining the static friction coefficient. Wear 24, 381\u2013385 (1973)","journal-title":"Wear"},{"issue":"2","key":"2999_CR16","first-page":"104","volume":"2","author":"J Awrejcewicz","year":"1988","unstructured":"Awrejcewicz, J.: Chaotic motion in a nonlinear oscillator with friction. Korean Soc. Mech. Eng. J. 2(2), 104\u2013109 (1988)","journal-title":"Korean Soc. Mech. Eng. J."},{"issue":"4","key":"2999_CR17","first-page":"269","volume":"9","author":"J Awrejcewicz","year":"1990","unstructured":"Awrejcewicz, J., Delfs, J.: Dynamics of a self-excited stick-slip oscillator with two degrees of freedom\u2014Part I Investigation of equilibria. Eur. J. Mech. A\/Solids 9(4), 269\u2013282 (1990)","journal-title":"Eur. J. Mech. A\/Solids"},{"issue":"5","key":"2999_CR18","first-page":"397","volume":"9","author":"J Awrejcewicz","year":"1990","unstructured":"Awrejcewicz, J., Delfs, J.: Dynamics of a self-excited stick-slip oscillator with two degrees of freedom\u2014Part II Slip-stick, slip-slip, stick-slip transitions, periodic and chaotic orbits. Eur. J. Mech. A\/Solids 9(5), 397\u2013418 (1990)","journal-title":"Eur. J. Mech. A\/Solids"},{"issue":"3","key":"2999_CR19","doi-asserted-by":"crossref","first-page":"323","DOI":"10.1006\/jsvi.1997.1053","volume":"205","author":"AJ McMillan","year":"1997","unstructured":"McMillan, A.J.: A non-linear friction model for self-excited vibrations. J. Sound Vib. 205(3), 323\u2013335 (1997)","journal-title":"J. Sound Vib."},{"key":"2999_CR20","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1023\/A:1008289604683","volume":"16","author":"RI Leine","year":"1998","unstructured":"Leine, R.I., van Campen, D.H., de Kraker, A., van den Steen, L.: Stick-slip vibrations induced by alternate friction models. Nonlinear Dyn. 16, 41\u201354 (1998)","journal-title":"Nonlinear Dyn."},{"key":"2999_CR21","doi-asserted-by":"crossref","unstructured":"Awrejcewicz, J., Holicke, M.M.: Melnikov\u2019s method and stick-slip chaotic oscillations in very weakly forced mechanical systems. Int. J. Bifurc. Chaos 9(3), 505\u2013518 (1999)","DOI":"10.1142\/S0218127499000341"},{"key":"2999_CR22","doi-asserted-by":"crossref","first-page":"383","DOI":"10.1007\/s11071-005-7183-0","volume":"42","author":"J Awrejcewicz","year":"2005","unstructured":"Awrejcewicz, J., Dzyubak, L., Grebogi, C.: Estimation of chaotic and regular (stick-slip and slip-slip) oscillations exhibited by coupled oscillators with dry friction. Nonlinear Dyn. 42, 383\u2013394 (2005)","journal-title":"Nonlinear Dyn."},{"key":"2999_CR23","doi-asserted-by":"crossref","first-page":"83","DOI":"10.1016\/j.cnsns.2006.01.007","volume":"12","author":"H Hetzler","year":"2007","unstructured":"Hetzler, H., Schwarzer, D., Seemann, W.: Analytical investigation of steady-state stability and Hopf-bifurcations occurring in sliding friction oscillators with application to low-frequency disc brake noise. Commun. Nonlinear Sci. Numer. Simul. 12, 83\u201399 (2007)","journal-title":"Commun. Nonlinear Sci. Numer. Simul."},{"key":"2999_CR24","doi-asserted-by":"crossref","first-page":"760","DOI":"10.1016\/B978-012443341-0\/50076-4","volume-title":"Friction in Lubricated Contacts. Handbook of Material Behavior Models","author":"J Fr\u00e9ne","year":"2001","unstructured":"Fr\u00e9ne, J., Cicone, T.: Friction in Lubricated Contacts. Handbook of Material Behavior Models, pp. 760\u2013767. Academic Press, Cambridge (2001)"},{"key":"2999_CR25","doi-asserted-by":"crossref","first-page":"147","DOI":"10.1115\/1.2920220","volume":"112","author":"DP Hess","year":"1990","unstructured":"Hess, D.P., Soom, A.: Friction at a lubricated line contact operating at oscillating sliding velocities. J. Tribol. 112, 147\u2013152 (1990)","journal-title":"J. Tribol."},{"key":"2999_CR26","doi-asserted-by":"crossref","unstructured":"Dupont, P.E., Dunlap, E.P.: Friction modeling and control in boundary lubrication. In: Proceedings of the 1993 American Control Conference, San Francisco, California, pp. 1910\u20131914 (1993)","DOI":"10.23919\/ACC.1993.4793210"},{"key":"2999_CR27","doi-asserted-by":"crossref","unstructured":"Threlfall, D.C.: The inclusion of Coulomb friction in mechanisms programs with particular reference to DRAM au programme DRAM. Mech. Mach. Theory 13, 475\u2013483 (1978)","DOI":"10.1016\/0094-114X(78)90020-4"},{"key":"2999_CR28","doi-asserted-by":"crossref","first-page":"57","DOI":"10.1007\/978-94-010-0203-5_4","volume":"103","author":"JAC Ambr\u00f3sio","year":"2003","unstructured":"Ambr\u00f3sio, J.A.C.: Impact of rigid and flexible multibody systems: deformation description and contact model. Virtual Nonlinear Multibody Syst. 103, 57\u201381 (2003)","journal-title":"Virtual Nonlinear Multibody Syst."},{"key":"2999_CR29","doi-asserted-by":"crossref","first-page":"580","DOI":"10.1016\/j.triboint.2005.11.014","volume":"40","author":"S Andersson","year":"2007","unstructured":"Andersson, S., S\u00f6derberg, A., Bj\u00f6rklund, S.: Friction models for sliding dry, boundary and mixed lubricated contacts. Tribol. Int. 40, 580\u2013587 (2007)","journal-title":"Tribol. Int."},{"key":"2999_CR30","doi-asserted-by":"crossref","first-page":"176","DOI":"10.1016\/S0947-3580(98)70113-X","volume":"4","author":"H Olsson","year":"1998","unstructured":"Olsson, H., \u00c5str\u00f6m, K.J., Canudas de Wit, C., G\u00e4fvert, M., Lischinsky, P.: Friction models and friction compensation. Eur. J. Control 4, 176\u2013195 (1998)","journal-title":"Eur. J. Control"},{"key":"2999_CR31","unstructured":"Iurian, C., Ikhouane, F., Rodellar, J., Gri\u00f1\u00f3, R.: Identification of a system with dry friction. Technical Report, Universitat Polit\u00e8cnica de Catalunya, Spain (2005)"},{"key":"2999_CR32","doi-asserted-by":"crossref","first-page":"67","DOI":"10.1007\/978-3-319-30614-8_4","volume":"42","author":"F Marques","year":"2016","unstructured":"Marques, F., Flores, P., Lankarani, H.M.: On the frictional contacts in multibody system dynamics. Multibody Dyn. Comput. Methods Appl. Sci. 42, 67\u201391 (2016)","journal-title":"Multibody Dyn. Comput. Methods Appl. Sci."},{"key":"2999_CR33","first-page":"143","volume":"94","author":"A Tustin","year":"1947","unstructured":"Tustin, A.: The effects of backlash and of speed-dependent friction on the stability of closed-cycle control systems. J. Inst. Electr. Eng. 94, 143\u2013151 (1947)","journal-title":"J. Inst. Electr. Eng."},{"key":"2999_CR34","doi-asserted-by":"crossref","unstructured":"Popp, K., Stelter, P.: Nonlinear oscillations of structures induced by dry friction. In: Ing. W. Schiehlen (ed.) Nonlinear Dynamics in Engineering Systems, pp. 233\u2013240. Springer, Berlin","DOI":"10.1007\/978-3-642-83578-0_29"},{"key":"2999_CR35","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4615-3972-8","volume-title":"Control of Machines with Friction","author":"B Armstrong-H\u00e9louvry","year":"1991","unstructured":"Armstrong-H\u00e9louvry, B.: Control of Machines with Friction. Kluwer Academic Publishers, Norwell, Massachusetts (1991)"},{"key":"2999_CR36","doi-asserted-by":"crossref","unstructured":"Makkar, C., Dixon, W.E., Sawyer, W.G., Hu, G.: A new continuously differentiable friction model for control systems design. In: Proceedings of the 2005 IEEE\/ASME, International Conference on Advanced Intelligent Mechatronics, pp. 600\u2013605 (2005)","DOI":"10.1109\/AIM.2005.1511048"},{"key":"2999_CR37","doi-asserted-by":"crossref","first-page":"277","DOI":"10.1016\/0043-1648(82)90223-X","volume":"82","author":"LC Bo","year":"1982","unstructured":"Bo, L.C., Pavelescu, D.: The friction-speed relation and its influence on the critical velocity of stick-slip motion. Wear 82, 277\u2013289 (1982)","journal-title":"Wear"},{"key":"2999_CR38","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1115\/1.3140698","volume":"107","author":"D Karnopp","year":"1985","unstructured":"Karnopp, D.: Computer simulation of stick-slip friction in mechanical dynamic systems. J. Dyn. Syst., Measurement, Control 107, 100\u2013103 (1985)","journal-title":"J. Dyn. Syst., Measurement, Control"},{"key":"2999_CR39","doi-asserted-by":"crossref","first-page":"1083","DOI":"10.1016\/0005-1098(94)90209-7","volume":"30","author":"B Armstrong-H\u00e9louvry","year":"1994","unstructured":"Armstrong-H\u00e9louvry, B., Dupont, P., Canudas de Wit, C.: A survey of models, analysis tools and compensation methods for the control of machines with friction. Automatica 30, 1083\u20131138 (1994)","journal-title":"Automatica"},{"key":"2999_CR40","doi-asserted-by":"crossref","first-page":"747","DOI":"10.1098\/rsta.2007.2125","volume":"366","author":"J Wojewoda","year":"2008","unstructured":"Wojewoda, J., Stefa\u0144ski, A., Wiercigroch, M., Kapitaniak, T.: Hysteretic effects of dry friction: modelling and experimental studies. Philos. Trans. R. Soc. A 366, 747\u2013765 (2008)","journal-title":"Philos. Trans. R. Soc. A"},{"key":"2999_CR41","first-page":"475","volume":"10","author":"J Awrejcewicz","year":"2008","unstructured":"Awrejcewicz, J., Grzelczyk, D., Pyryev, Y.: A novel dry friction modeling and its impact on differential equations computation and Lyapunov exponents estimation. J. Vibroeng. 10, 475\u2013482 (2008)","journal-title":"J. Vibroeng."},{"key":"2999_CR42","doi-asserted-by":"crossref","unstructured":"Dahl, P.R.: A solid friction model, Technical Report, The Aerospace Corporation, El Segundo, California (1968)","DOI":"10.21236\/ADA041920"},{"key":"2999_CR43","doi-asserted-by":"crossref","first-page":"1675","DOI":"10.2514\/3.61511","volume":"14","author":"PR Dahl","year":"1976","unstructured":"Dahl, P.R.: Solid friction damping in mechanical vibrations. AIAA J. 14, 1675\u20131682 (1976)","journal-title":"AIAA J."},{"key":"2999_CR44","doi-asserted-by":"crossref","first-page":"321","DOI":"10.1007\/s11044-007-9047-5","volume":"17","author":"E Pennestr\u00ec","year":"2007","unstructured":"Pennestr\u00ec, E., Valentini, P.P., Vita, L.: Multibody dynamics simulation of planar linkages with Dahl friction. Multibody Syst. Dyn. 17, 321\u2013347 (2007)","journal-title":"Multibody Syst. Dyn."},{"key":"2999_CR45","first-page":"34","volume":"2","author":"O Ksentini","year":"2012","unstructured":"Ksentini, O., Abbes, M.S., Abdessalem, J., Chaari, F., Haddar, M.: Study of mass spring system subjected to Dahl friction. Int. J. Mech. Syst. Eng. 2, 34\u201341 (2012)","journal-title":"Int. J. Mech. Syst. Eng."},{"key":"2999_CR46","doi-asserted-by":"crossref","first-page":"354","DOI":"10.1115\/1.2896418","volume":"113","author":"DA Haessig","year":"1991","unstructured":"Haessig, D.A., Friedland, B.: On the modeling and simulation of friction. J. Dyn. Syst. Measurement Control 113, 354\u2013362 (1991)","journal-title":"J. Dyn. Syst. Measurement Control"},{"key":"2999_CR47","doi-asserted-by":"crossref","first-page":"419","DOI":"10.1109\/9.376053","volume":"40","author":"Canudas Wit de","year":"1995","unstructured":"de Wit, Canudas, Canudas de Wit, C., Olsson, H., \u00c5str\u00f6m, K.J., Lischinsky, P.: A new model for control of systems with friction. IEEETrans. Autom. Control 40, 419\u2013425 (1995)","journal-title":"IEEETrans. Autom. Control"},{"key":"2999_CR48","doi-asserted-by":"crossref","unstructured":"Dupont, P., Armstrong, B., Hayward, V.: Elasto-plastic friction model: contact compliance and stiction. In: Proceedings of the 2000 American Control Conference, 2, 1072\u20131077 (2000)","DOI":"10.1109\/ACC.2000.876665"},{"key":"2999_CR49","doi-asserted-by":"crossref","first-page":"675","DOI":"10.1109\/9.847103","volume":"45","author":"J Swevers","year":"2000","unstructured":"Swevers, J., Al-Bender, F., Ganseman, C.G., Projogo, T.: An integrated friction model structure with improved presliding behavior for accurate friction compensation. IEEE Trans. Autom. Control 45, 675\u2013686 (2000)","journal-title":"IEEE Trans. Autom. Control"},{"key":"2999_CR50","doi-asserted-by":"crossref","unstructured":"Lampaert, V., Al-Bender, F., Swevers, J.: A generalized maxwell-slip friction model appropriate for control purposes. In: Proceedings of IEEE International Conference on Physics and Control, St. Petersburg, Russia, pp. 1170\u20131178 (2003)","DOI":"10.1109\/PHYCON.2003.1237071"},{"key":"2999_CR51","doi-asserted-by":"crossref","first-page":"81","DOI":"10.1023\/B:TRIL.0000009718.60501.74","volume":"16","author":"F Al-Bender","year":"2004","unstructured":"Al-Bender, F., Lampaert, V., Swevers, J.: A novel generic model at asperity level for dry friction force dynamics. Tribol. Lett. 16, 81\u201393 (2004)","journal-title":"Tribol. Lett."},{"key":"2999_CR52","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1023\/B:MUBO.0000029392.21648.bc","volume":"11","author":"Y Gonthier","year":"2004","unstructured":"Gonthier, Y., McPhee, J., Lange, C., Piedboeuf, J.-C.: A regularized contact model with asymmetric damping and dwell-time dependent friction. Multibody Syst. Dyn. 11, 209\u2013233 (2004)","journal-title":"Multibody Syst. Dyn."},{"key":"2999_CR53","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1007\/s11249-010-9645-x","volume":"40","author":"K Moerlooze De","year":"2010","unstructured":"De Moerlooze, K., Al-Bender, F., Van Brussel, H.: A generalised asperity-based friction model. tribol. lett. 40, 113\u2013130 (2010)","journal-title":"tribol. lett."},{"key":"2999_CR54","doi-asserted-by":"crossref","first-page":"691","DOI":"10.1080\/10402004.2011.593111","volume":"54","author":"S Oleksowicz","year":"2011","unstructured":"Oleksowicz, S., Mruk, A.: A basic theoretical model for friction process at microasperity level. Tribol. Trans. 54, 691\u2013700 (2011)","journal-title":"Tribol. Trans."},{"key":"2999_CR55","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1016\/j.mechmachtheory.2012.06.002","volume":"56","author":"J Liang","year":"2012","unstructured":"Liang, J., Fillmore, S., Ma, O.: An extended bristle friction force model with experimental validation. Mech. Mach. Theory 56, 123\u2013137 (2012)","journal-title":"Mech. Mach. Theory"},{"key":"2999_CR56","doi-asserted-by":"crossref","first-page":"608","DOI":"10.1080\/10402009408983336","volume":"37","author":"A Harnoy","year":"1994","unstructured":"Harnoy, A., Friedland, B.: Dynamic friction model of lubricated surfaces for precise motion control. Tribol. Trans. 37, 608\u2013614 (1994)","journal-title":"Tribol. Trans."},{"key":"2999_CR57","doi-asserted-by":"crossref","unstructured":"Contensou, P.: Couplage entre frottement de glissement et de pivotement dans la t\u00e9orie de la toupe. In: Kreiselprobleme Gyrodynamics: IUTAM Symposium Calerina, 201\u2013216 (1962)","DOI":"10.1007\/978-3-662-12200-6_15"},{"issue":"5","key":"2999_CR58","doi-asserted-by":"crossref","first-page":"705","DOI":"10.1016\/S0021-8928(98)00090-2","volume":"62","author":"VG Zhuravlev","year":"1998","unstructured":"Zhuravlev, V.G.: The model of dry friction in the problem of the rolling of rigid bodies. J. Appl. Math. Mech. 62(5), 705\u2013710 (1998)","journal-title":"J. Appl. Math. Mech."},{"key":"2999_CR59","doi-asserted-by":"crossref","first-page":"193","DOI":"10.1016\/S0997-7538(03)00025-1","volume":"22","author":"RI Leine","year":"2003","unstructured":"Leine, R.I., Glocker, C.: A set-valued force law for spatial Coulomb\u2013Contensou friction. Eur. J. Mech. A\/Solids 22, 193\u2013216 (2003)","journal-title":"Eur. J. Mech. A\/Solids"},{"issue":"3","key":"2999_CR60","doi-asserted-by":"crossref","first-page":"412","DOI":"10.3103\/S0025654408030138","volume":"43","author":"AA Kireenkov","year":"2008","unstructured":"Kireenkov, A.A.: Combined model of sliding and rolling friction in dynamics of bodies on a rough plane. Mech. Solids 43(3), 412\u2013425 (2008)","journal-title":"Mech. Solids"},{"key":"2999_CR61","doi-asserted-by":"crossref","first-page":"281","DOI":"10.1007\/s11044-010-9211-1","volume":"24","author":"II Kosenko","year":"2010","unstructured":"Kosenko, I.I., Aleksandrov, E.B.: Implementation of the Contensou\u2013Erismann tangent forces model in the Hertz contact problem. Multibody Syst. Dyn. 24, 281\u2013301 (2010)","journal-title":"Multibody Syst. Dyn."},{"issue":"10","key":"2999_CR62","doi-asserted-by":"crossref","first-page":"2905","DOI":"10.1142\/S0218127411030222","volume":"21","author":"G Kudra","year":"2011","unstructured":"Kudra, G., Awrejcewicz, J.: Tangens hyperbolicus approximations of the spatial model of friction coupled with rolling resistance. Int. J. Bifurcation Chaos 21(10), 2905\u20132917 (2011)","journal-title":"Int. J. Bifurcation Chaos"},{"key":"2999_CR63","doi-asserted-by":"crossref","first-page":"301","DOI":"10.1007\/s12591-012-0104-z","volume":"20","author":"G Kudra","year":"2012","unstructured":"Kudra, G., Awrejcewicz, J.: Bifurcational dynamics of a two-dimensional stick-slip system. Differ. Equ. Dyn. Syst. 20, 301\u2013322 (2012)","journal-title":"Differ. Equ. Dyn. Syst."},{"key":"2999_CR64","doi-asserted-by":"crossref","first-page":"358","DOI":"10.1016\/j.euromechsol.2013.07.005","volume":"42","author":"G Kudra","year":"2013","unstructured":"Kudra, G., Awrejcewicz, J.: Approximate modelling of resulting dry friction forces and rolling resistance for elliptic contact shape. Eur. J. Mech. A\/Solids 42, 358\u2013375 (2013)","journal-title":"Eur. J. Mech. A\/Solids"},{"key":"2999_CR65","doi-asserted-by":"crossref","first-page":"1115","DOI":"10.1155\/2012\/781573","volume":"19","author":"J Awrejcewicz","year":"2012","unstructured":"Awrejcewicz, J., Kudra, G.: Celtic stone dynamics revisited using dry friction and rolling resistance. Shock Vib 19, 1115\u20131123 (2012)","journal-title":"Shock Vib"},{"issue":"2","key":"2999_CR66","doi-asserted-by":"crossref","first-page":"123","DOI":"10.5890\/DNC.2014.06.002","volume":"3","author":"J Awrejcewicz","year":"2014","unstructured":"Awrejcewicz, J., Kudra, G.: Mathematical modelling and simulation of the bifurcational wobblestone dynamics. Discontin. Nonlinear. Complex. 3(2), 123\u2013132 (2014)","journal-title":"Discontin. Nonlinear. Complex."},{"key":"2999_CR67","doi-asserted-by":"crossref","unstructured":"Dahl, P.R.: Measurement of solid friction parameters of ball bearings, Technical Report, The Aerospace Corporation, El Segundo, California (1977)","DOI":"10.21236\/ADA042599"},{"issue":"2","key":"2999_CR68","doi-asserted-by":"crossref","first-page":"305","DOI":"10.1007\/s12555-009-0217-5","volume":"7","author":"B Borsotto","year":"2009","unstructured":"Borsotto, B., Godoy, E., Beauvois, D., Devaud, E.: An identification method for static and coulomb friction coefficients. Int. J. Control Autom. Syst. 7(2), 305\u2013310 (2009)","journal-title":"Int. J. Control Autom. Syst."},{"key":"2999_CR69","doi-asserted-by":"crossref","first-page":"1696","DOI":"10.1016\/j.ymssp.2009.01.002","volume":"23","author":"L Liu","year":"2009","unstructured":"Liu, L., Liu, H., Wu, Z., Yuan, D.: A new method for the determination of the zero velocity region of the Karnopp model based on the statistics theory. Mech. Syst. Signal Process. 23, 1696\u20131703 (2009)","journal-title":"Mech. Syst. Signal Process."},{"key":"2999_CR70","doi-asserted-by":"crossref","first-page":"180","DOI":"10.1016\/j.ejcon.2014.04.001","volume":"20","author":"S Bicakci","year":"2014","unstructured":"Bicakci, S., Akdas, D., Karaoglan, A.D.: Optimizing Karnopp friction model parameters of a pendulum using RSM. Eur. J. Control 20, 180\u2013187 (2014)","journal-title":"Eur. J. Control"},{"key":"2999_CR71","doi-asserted-by":"crossref","unstructured":"Wu, X.D., Zuo, S.G., Lei, L., Yang, X.W., Li, Y.: Parameter identification for a LuGre model based on steady-state tire conditions. Int. J. Autom. Technol. 12(5), 671\u2013677 (2011)","DOI":"10.1007\/s12239-011-0078-9"},{"key":"2999_CR72","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1016\/j.mechmachtheory.2013.10.009","volume":"73","author":"T Piatkowski","year":"2014","unstructured":"Piatkowski, T.: Dahl and LuGre dynamic friction models\u2014The analysis of selected properties. Mech. Mach. Theory 73, 91\u2013100 (2014)","journal-title":"Mech. Mach. Theory"},{"key":"2999_CR73","doi-asserted-by":"crossref","first-page":"338","DOI":"10.1016\/j.mechmachtheory.2016.02.013","volume":"100","author":"YH Sun","year":"2016","unstructured":"Sun, Y.H., Chen, T., Wu, C.Q., Shafai, C.: A comprehensive experimental setup for identification of friction model parameters. Mech. Mach. Theory 100, 338\u2013357 (2016)","journal-title":"Mech. Mach. Theory"},{"issue":"6","key":"2999_CR74","doi-asserted-by":"crossref","first-page":"389","DOI":"10.1115\/1.2048687","volume":"58","author":"J Awrejcewicz","year":"2005","unstructured":"Awrejcewicz, J., Olejnik, P.: Analysis of dynamic systems with various friction laws. Appl. Mech. Rev. 58(6), 389\u2013411 (2005)","journal-title":"Appl. Mech. Rev."},{"issue":"4","key":"2999_CR75","doi-asserted-by":"crossref","first-page":"1785","DOI":"10.1007\/s11071-015-2485-3","volume":"83","author":"E Pennestr\u00ec","year":"2016","unstructured":"Pennestr\u00ec, E., Rossi, V., Salvini, P., Valentini, P.P.: Review and comparison of dry friction force models. Nonlinear Dyn. 83(4), 1785\u20131801 (2016)","journal-title":"Nonlinear Dyn."},{"issue":"5","key":"2999_CR76","doi-asserted-by":"crossref","first-page":"401","DOI":"10.1016\/0094-114X(86)90088-1","volume":"21","author":"EJ Haug","year":"1986","unstructured":"Haug, E.J., Wu, S.C., Yang, S.M.: Dynamics of mechanical systems with coulomb friction, stiction, impact, and constraints addition, deletion - I Theory. Mech. Mach. Theory 21(5), 401\u2013406 (1986)","journal-title":"Mech. Mach. Theory"},{"issue":"5","key":"2999_CR77","doi-asserted-by":"crossref","first-page":"407","DOI":"10.1016\/0094-114X(86)90089-3","volume":"21","author":"SC Wu","year":"1986","unstructured":"Wu, S.C., Yang, S.M., Haug, E.J.: Dynamics of mechanical systems with coulomb friction, stiction, impact, and constraints addition, deletion - II Planar Systems. Mech. Mach. Theory 21(5), 407\u2013416 (1986)","journal-title":"Mech. Mach. Theory"},{"issue":"5","key":"2999_CR78","doi-asserted-by":"crossref","first-page":"417","DOI":"10.1016\/0094-114X(86)90090-X","volume":"21","author":"SC Wu","year":"1986","unstructured":"Wu, S.C., Yang, S.M., Haug, E.J.: Dynamics of mechanical systems with coulomb friction, stiction, impact, and constraints addition, deletion - II Spatial Systems. Mech. Mach. Theory 21(5), 417\u2013425 (1986)","journal-title":"Mech. Mach. Theory"},{"key":"2999_CR79","doi-asserted-by":"crossref","first-page":"341","DOI":"10.1023\/A:1009888213333","volume":"4","author":"JC Piedb\u0153uf","year":"2000","unstructured":"Piedb\u0153uf, J.C., Carufel, J., Hurteau, R.: Friction and stick-slip in robots: simulation and experimentation. Multibody Syst. Dyn. 4, 341\u2013354 (2000)","journal-title":"Multibody Syst. Dyn."},{"issue":"3","key":"2999_CR80","doi-asserted-by":"crossref","first-page":"312","DOI":"10.1016\/j.mechmachtheory.2010.11.003","volume":"46","author":"J Fr\u00f8gonaczek","year":"2011","unstructured":"Fr\u00f8gonaczek, J., Wojtyra, M.: On the unique solvability of a direct dynamics problem for mechanisms with redundant constraints and Coulomb friction in joints. Mech. Mach. Theory 46(3), 312\u2013334 (2011)","journal-title":"Mech. Mach. Theory"},{"key":"2999_CR81","unstructured":"Lampaert, V., Swevers, J., Al-Bender, F.: Experimental comparison of different friction models for accurate low-velocity tracking. In: Proceedings of the 10th Mediterranean Conference on Control and Automation - MED2002, Lisbon, Portugal, 9p (2002)"},{"key":"2999_CR82","doi-asserted-by":"crossref","unstructured":"Tjahjowidodo, T., Al-Bender, F., Van Brussel, H.: Friction identification and compensation in a DC motor. In: Proceedings of the 16th IFAC World Congress, Prague, Czech Republic, 6p (2005)","DOI":"10.3182\/20050703-6-CZ-1902.00093"},{"key":"2999_CR83","doi-asserted-by":"crossref","first-page":"15","DOI":"10.5194\/ms-6-15-2015","volume":"6","author":"YF Liu","year":"2015","unstructured":"Liu, Y.F., Li, J., Zhang, Z.M., Hu, X.H., Zhang, W.J.: Experimental comparison of five friction models on the same test-bed of the micro stick-slip motion system. Mech. Sci. 6, 15\u201328 (2015)","journal-title":"Mech. Sci."},{"key":"2999_CR84","doi-asserted-by":"crossref","first-page":"557","DOI":"10.1006\/jsvi.1994.1140","volume":"171","author":"MT Bengisu","year":"1994","unstructured":"Bengisu, M.T., Akay, A.: Stability of friction-induced vibrations in multi-degree-of-freedom systems. J. Sound Vibr. 171, 557\u2013570 (1994)","journal-title":"J. Sound Vibr."},{"key":"2999_CR85","unstructured":"Bliman, P.-A., Sorine, M.: Friction modelling by hysteresis operators: application to Dahl, stiction and Stribeck effects. In: Proceedings of the Conference \u201cModels of Hysteresis\u201d, Trento, Italy (1991)"},{"key":"2999_CR86","unstructured":"Bliman, P.-A., Sorine, M.: A system-theoretic approach of systems with hysteresis: Application to friction modelling and compensation. In: Proceedings of the second European Control Conference, Groningen, The Netherlands, pp. 1844\u20131849, (1993)"},{"key":"2999_CR87","unstructured":"Bliman, P.A., Sorine. M.: Easy-to-use realistic dry friction models for automatic control. In: Proceedings of 3rd European Control Conference, Rome, Italy, pp. 3788-3794. (1995)"},{"key":"2999_CR88","doi-asserted-by":"crossref","first-page":"787","DOI":"10.1109\/TAC.2002.1000274","volume":"47","author":"P Dupont","year":"2002","unstructured":"Dupont, P., Hayward, V., Armstrong, B., Altpeter, F.: Single state elasto-plastic friction models. IEEE Trans. Autom. Control 47, 787\u2013792 (2002)","journal-title":"IEEE Trans. Autom. Control"},{"key":"2999_CR89","doi-asserted-by":"crossref","first-page":"683","DOI":"10.1109\/9.995050","volume":"47","author":"V Lampaert","year":"2002","unstructured":"Lampaert, V., Swevers, J., Al-Bender, F.: Modification of the Leuven integrated friction model structure. IEEE Trans. Autom. Control 47, 683\u2013687 (2002)","journal-title":"IEEE Trans. Autom. Control"},{"key":"2999_CR90","doi-asserted-by":"crossref","first-page":"1883","DOI":"10.1109\/TAC.2005.858676","volume":"50","author":"F Al-Bender","year":"2005","unstructured":"Al-Bender, F., Lampaert, V., Swevers, J.: The generalized Maxwell-Slip model: a novel model for friction simulation and compensation. IEEE Trans. Autom. Control 50, 1883\u20131887 (2005)","journal-title":"IEEE Trans. Autom. Control"},{"key":"2999_CR91","doi-asserted-by":"crossref","unstructured":"Piatkowski, T.: GMS friction model approximation. Mech. Mach. Theory 75, 1\u201311 (2014)","DOI":"10.1016\/j.mechmachtheory.2014.01.009"},{"key":"2999_CR92","doi-asserted-by":"crossref","first-page":"281","DOI":"10.1115\/1.2754304","volume":"2","author":"NB Do","year":"2007","unstructured":"Do, N.B., Ferri, A.A., Bauchau, O.A.: Efficient simulation of a dynamic system with LuGre friction. J. Comput. Nonlinear Dyn. 2, 281\u2013289 (2007)","journal-title":"J. Comput. Nonlinear Dyn."},{"key":"2999_CR93","doi-asserted-by":"crossref","first-page":"185","DOI":"10.1016\/j.triboint.2015.04.029","volume":"90","author":"A Saha","year":"2015","unstructured":"Saha, A., Wiercigroch, M., Jankowski, K., Wahi, P., Stefa\u0144ski, A.: Investigation of two different friction models from the perspective of friction-induced vibrations. Tribol. Int. 90, 185\u2013197 (2015)","journal-title":"Tribol. Int."},{"key":"2999_CR94","unstructured":"Marques, F., Flores, P., Lankarani, H.: Study of friction force model parameters in multibody dynamics. In: Proceedings of IMSD 2016, The $$4^{{\\rm th}}$$ 4 th Joint International Conference on Multibody System Dynamics, Montreal, Canada, 10p (2016)"},{"key":"2999_CR95","volume-title":"Computer Aided Analysis of Mechanical Systems","author":"PE Nikravesh","year":"1988","unstructured":"Nikravesh, P.E.: Computer Aided Analysis of Mechanical Systems. Prentice Hall, Englewood Cliffs, New Jersey (1988)"},{"key":"2999_CR96","doi-asserted-by":"crossref","unstructured":"Marques, F.: Frictional contacts in multibody dynamics. Master Dissertation, University of Minho, Portugal (2015)","DOI":"10.1007\/978-3-319-30614-8_4"}],"container-title":["Nonlinear Dynamics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11071-016-2999-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11071-016-2999-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11071-016-2999-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,12]],"date-time":"2019-09-12T05:21:24Z","timestamp":1568265684000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11071-016-2999-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,8,9]]},"references-count":96,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2016,11]]}},"alternative-id":["2999"],"URL":"https:\/\/doi.org\/10.1007\/s11071-016-2999-3","relation":{},"ISSN":["0924-090X","1573-269X"],"issn-type":[{"value":"0924-090X","type":"print"},{"value":"1573-269X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,8,9]]}}}