Regulation and force control using sliding modes to reduce rebounds in a mechanical system subject to a unilateral constraint
Regulation and force control using sliding modes to reduce rebounds in a mechanical system subject to a unilateral constraint
- Author(s): R. Rascón ; J. Alvarez ; L.T. Aguilar
- DOI: 10.1049/iet-cta.2011.0314
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- Author(s): R. Rascón 1 ; J. Alvarez 1 ; L.T. Aguilar 2
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View affiliations
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Affiliations:
1: Electronics and Telecommunication Department, CICESE Research Centre, San Diego, USA
2: Electronics and Telecommunication Department, Instituto Politécnico Nacional, Tijuana, México
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Affiliations:
1: Electronics and Telecommunication Department, CICESE Research Centre, San Diego, USA
- Source:
Volume 6, Issue 18,
6 December 2012,
p.
2785 – 2792
DOI: 10.1049/iet-cta.2011.0314 , Print ISSN 1751-8644, Online ISSN 1751-8652
In this study, a control algorithm is proposed, based on the sliding-mode technique, to regulate a single degree of freedom mechanical system subject to a unilateral constraint. The system may be in non-constrained motion at some time or in constrained motion at some other time. The system motion can be divided in three phases: free motion, constrained motion and transition (from non-constrained to constrained motion and vice versa). Only one control law is designed for the system, regardless of the motion phase. It is shown that the non-linear system is globally asymptotically stable and achieves zero steady-state position error. Numerical and experimental results show the performance of the proposed controller.
Inspec keywords: control system synthesis; force control; asymptotic stability; variable structure systems; nonlinear control systems
Other keywords:
Subjects: Multivariable control systems; Control system analysis and synthesis methods; Nonlinear control systems; Mechanical variables control; Stability in control theory
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