Sliding Mode Control for a Vertical Dynamics in the Presence of Nonlinear Friction
Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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in: WSEAS Transactions on Circuits and Systems, Jahrgang 18, 17, 2019, S. 102-112.
Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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TY - JOUR
T1 - Sliding Mode Control for a Vertical Dynamics in the Presence of Nonlinear Friction
AU - Ferch, Tobias
AU - Mercorelli, Paolo
N1 - Publisher Copyright: © 2019 WSEAS TRANSACTIONS on CIRCUITS and SYSTEMS. All rights reserved.
PY - 2019
Y1 - 2019
N2 - 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.
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 - http://www.scopus.com/inward/record.url?scp=85149711995&partnerID=8YFLogxK
M3 - Journal articles
VL - 18
SP - 102
EP - 112
JO - WSEAS Transactions on Circuits and Systems
JF - WSEAS Transactions on Circuits and Systems
SN - 1109-2734
M1 - 17
ER -