Sliding Mode Control for a Vertical Dynamics in the Presence of Nonlinear Friction

Tobias Ferch; Paolo Mercorelli

Sliding Mode Control for a Vertical Dynamics in the Presence of Nonlinear Friction

Tobias Ferch
, Paolo Mercorelli

Professur für Regelungs- und Antriebstechnik

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › Begutachtung

2 Zitate (Scopus)

Abstract

This paper deals with a control of a vertical dynamics in the presence of nonlinear friction in a robotic mechanism. The control structure, which is taken into consideration, is the Sliding Mode Control (SMC). Using this control technique, it is possible to show the asymptotical stability of the trajectory to be tracked. Simulation results show the effectiveness of the proposed control technique.

Originalsprache	Englisch
Aufsatznummer	17
Zeitschrift	WSEAS Transactions on Circuits and Systems
Jahrgang	18
Seiten (von - bis)	102-112
Seitenumfang	11
ISSN	1109-2734
Publikationsstatus	Erschienen - 2019

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Publisher Copyright:
© 2019 WSEAS TRANSACTIONS on CIRCUITS and SYSTEMS. All rights reserved.

Fachgebiete und Schlagwörter

Ingenieurwissenschaften

ASJC Scopus Sachgebiete

Elektrotechnik und Elektronik

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http://www.wseas.org/multimedia/journals/circuits/2019/a345101-082.pdfLizenz: CC BY

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title = "Sliding Mode Control for a Vertical Dynamics in the Presence of Nonlinear Friction",

abstract = "This paper deals with a control of a vertical dynamics in the presence of nonlinear friction in a robotic mechanism. The control structure, which is taken into consideration, is the Sliding Mode Control (SMC). Using this control technique, it is possible to show the asymptotical stability of the trajectory to be tracked. Simulation results show the effectiveness of the proposed control technique. ",

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AU - Ferch, Tobias

AU - Mercorelli, Paolo

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Y1 - 2019

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AB - This paper deals with a control of a vertical dynamics in the presence of nonlinear friction in a robotic mechanism. The control structure, which is taken into consideration, is the Sliding Mode Control (SMC). Using this control technique, it is possible to show the asymptotical stability of the trajectory to be tracked. Simulation results show the effectiveness of the proposed control technique.

KW - Engineering

KW - Mechanical systems

KW - Mechanical friction

KW - Displacement-SMC

KW - Applications

KW - Simulation

UR - https://www.scopus.com/pages/publications/85149711995

M3 - Journal articles

SN - 1109-2734

VL - 18

SP - 102

EP - 112

JO - WSEAS Transactions on Circuits and Systems

JF - WSEAS Transactions on Circuits and Systems

M1 - 17

ER -

Sliding Mode Control for a Vertical Dynamics in the Presence of Nonlinear Friction

Abstract

Bibliographische Notiz

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