Stability and Dissipativity of the Distributed LuGre Friction Model

This paper presents a mathematical analysis of the (regularized) distributed LuGre friction model, focusing on its stability and dissipativity properties. Compared to its lumped counterpart, it is shown that these key features are preserved in the distributed formulation under certain assumptions regarding the contact pressure distribution and micro-stiffness coefficient. An alternative definition of the damping term as a true deformation velocity is also proposed, with important implications on stability and dissipativity. Additionally, a linearized version of the model is derived, which may facilitate analysis and control design.