Nonlinear sliding friction of adsorbed overlayers on disordered   substrates
  We study the response of an adsorbed monolayer on a disordered substrate under a driving force using Brownian molecular-dynamics simulation. We find that the sharp longitudinal and transverse depinning transitions with hysteresis still persist in the presence of weak disorder. However, the transitions are smeared out in the strong disorder limit. The theoretical results here provide a natural explanation for the recent data for the depinning transition of Kr films on gold substrate. 
Enzo Granato and S.C. Ying