Asymptotic analysis of the dither effect in systems with friction (Q5953544)

In systems with friction the dither signal is used in order to smooth the ``discontinuous'' effects of friction at low velocities. The dither signal can be used in the normal and tangential directions of motion. But the distinction between these two approaches is essential: the effect of the tangential dither is to modify the influence of friction by averaging its effect, while the normal dither has the effect of changing the friction coefficient. Here, the authors are concerned with the tangential dither signal and its interaction with the dynamic friction model. To overcome the discontinuity, the authors have used a model where the friction force is described by a differential equation including a continuous function and small parameter. The dither effect is analyzed on the basis of averaging theory and a new variant of the asymptotic approach. The stabilizing property by means of the dither is proved experimentally.