Control of a class of multibody underactuated mechanical systems with discontinuous friction using sliding-mode
Liu, Y
Date: 7 October 2016
Journal
Transactions of the Institute of Measurement and Control
Publisher
SAGE Publications
Publisher DOI
Abstract
This paper studies sliding-mode control of a class of multibody underactuated systems with discontinuous
friction presenting on the unactuated configuration variable with consideration of parametric uncertainties.
Global motion for this class system including sticking, stick-slip, and slip regimes are analyzed, and
their corresponding ...
This paper studies sliding-mode control of a class of multibody underactuated systems with discontinuous
friction presenting on the unactuated configuration variable with consideration of parametric uncertainties.
Global motion for this class system including sticking, stick-slip, and slip regimes are analyzed, and
their corresponding equilibria are identified. Our control objective is to avoid the sticking and stick-slip
regimes while track a desired velocity in the slip regime. The proposed sliding-mode controllers are robust
to parametric uncertainties, and their stabilities are proved by using the Lyapunov direct method. Two
examples, a mass-spring-damping system and a drill-string system, are used to demonstrate the validity
of the proposed controllers.
Engineering
Faculty of Environment, Science and Economy
Item views 0
Full item downloads 0