Planar Friction Modeling With LuGre Dynamics and Limit Surfaces
During planar motion, contact surfaces exhibit a coupling between tangential and rotational friction forces. This article proposes planar friction models grounded in the LuGre model and limit surface theory. First, distributed planar extended state models are proposed, and the elastoplastic model is extended for multidimensional friction. Subsequently, we derive a reduced planar friction model cou
