Modification of the Leuven integrated friction model structure

By Vincent Lampaert, Jan Swevers, Farid Al-Bender. IEEE Transactions on Automatic Control, 2002

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A New Approach to Modeling Hysteresis in a Pneumatic Artificial Muscle Using The Maxwell-Slip Model (2011, methodology): “The virgin curve, characterizing the friction in the presliding regime, can be identified with a piecewise-linearization approximation using the Maxwell-slip model [26].”
A generalized Maxwell-slip friction model appropriate for control purposes (2003, methodology): “Further exten�iOllS have been made to obtain more accurate models; e.g. the Leuven Model [13,·12J and the elasto-plastir: modd [6].”
Identification of pre-sliding and sliding friction dynamics: Grey box and black-box models (2007, methodology): “The Generalised Maxwell-Slip (GMS) friction model is an extension of the Leuven model [9].”
The generalized Maxwell-slip model: a novel model for friction Simulation and compensation (2005, methodology): “[11] proposed to replace Fh by a Maxwell-slip model representation, which works as follows.”
Revisiting the LuGre friction model (2008, positive): “To overcome these discrepancies several m odifications are considered in [19], [20], [21] based on the Preisach, Duhem, Maxwell-slip, and B ouc-Wen models.”
A survey and comparison of several friction force models for dynamic analysis of multibody mechanical systems (2016, background): “Few years later, the same authors [89] proposed some modifications to the model.”