Vertical Dynamics Description and its Control in the Presence of Nonlinear Friction

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

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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.
OriginalspracheEnglisch
Aufsatznummer26
ZeitschriftWSEAS Transactions on Systems
Jahrgang18
Seiten (von - bis)198-212
Anzahl der Seiten15
ISSN1109-2777
PublikationsstatusErschienen - 2019

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