Your browser does not support JavaScript!
http://iet.metastore.ingenta.com
1887

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

For access to this article, please select a purchase option:

Buy article PDF
£12.50
(plus tax if applicable)
Buy Knowledge Pack
10 articles for £75.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
IET Control Theory & Applications — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

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.

References

    1. 1)
    2. 2)
      • V. Utkin . (1978) Sliding modes and their applications.
    3. 3)
      • Haghshenas-Jaryani, M., Vossoughi, G.: `Modeling and sliding mode control of a snake-like robot with holonomic constraints', IEEE Int. Conf. Robotics and Biomimetics, 2008 (ROBIO 2008), February 2009, p. 454–461.
    4. 4)
    5. 5)
      • B. Brogliato . (1999) Nonsmooth mechanics.
    6. 6)
      • Nowacka-Leverton, A., Bartoszewicz, A.: `Elastic and conventional constraints in sliding mode control of second order system', Proc. 34th Annual Conf. IEEE in Industrial Electronics, 2008 (IECON 2008), November 2008, p. 182–187.
    7. 7)
    8. 8)
      • Mansard, N., Khatib, O.: `Continuous control law from unilateral constraints', Proc. IEEE Int. Conf. Robotics and Automation, 2008, p. 3359–3364.
    9. 9)
    10. 10)
    11. 11)
      • Hou, Z.: `Bendixson’s criterion for systems with non-', Proc. R. Soc. Edinburgh, 2003, vol. 133A, p. 393–407.
    12. 12)
      • Rengifo, C., Aoustin, Y., Chevallereau, C., Plestan, F.: `A penalty-based approach for contact forces computation in bipedal robots', Ninth IEEE-RAS Int. Conf. Humanoid Robots, 2009, Humanoids 2009, December 2009, p. 121–127.
    13. 13)
    14. 14)
      • Pekarek, D., Murphey, T.: `A backwards error analysis approach for simulation and control of nonsmooth mechanical systems', 50thIEEE Conf. Decision and Control and European Control Conf. (CDC-ECC), 2011, December 2011, p. 6942–6949.
    15. 15)
    16. 16)
      • Ben Amor, B., Haded, N., Mnif, F.: `Controllability analysis of 1-DOF linear juggling system', Proc. Sixth Int. Multi-Conf. Systems, Signals and Devices, 2009, p. 1–6.
    17. 17)
      • Potini, A., Tornambe, A., Menini, L., Abdallah, C., Dorato, P.: `Finite-time control of linear mechanical systems subject to non-smooth impacts', Proc. IEEE Conf. 14th Mediterranean Control and Automation, 2006, p. 1–5.
    18. 18)
    19. 19)
    20. 20)
    21. 21)
    22. 22)
    23. 23)
      • V.I. Utkin . (1992) Sliding modes in control optimization.
    24. 24)
    25. 25)
    26. 26)
      • Rubagotti, M., Ferrara, A.: `Second order sliding mode control of a perturbed double integrator with state constraints', American Control Conf. (ACC), 2010, July 2010, p. 985–990.
    27. 27)
    28. 28)
      • Bourgeot, J.-M., Delaleau, E.: `Fast algebraic impact times estimation for a linear system subject to unilateral constraint', 46thIEEE Conf. Decision and Control, December 2007, p. 2701–2706, 2007.
    29. 29)
    30. 30)
      • Goldsmith, P.: `Stability of robot force control applied to unilateral constraints', Proc. 1996 IEEE Canadian Conf. Electrical and Computer Engineering, 1996, p. 498–501.
    31. 31)
    32. 32)
    33. 33)
      • R.I. Leine , N.V. de Wouw . (2010) Stability and convergence of mechanical systems with unilateral constraints.
    34. 34)
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2011.0314
Loading

Related content

content/journals/10.1049/iet-cta.2011.0314
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
This is a required field
Please enter a valid email address