Vertical Dynamics Description and its Control in the Presence of Nonlinear Friction
Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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Vertical Dynamics Description and its Control in the Presence of Nonlinear Friction. / Ferch, Tobias; Mercorelli, Paolo.
in: WSEAS Transactions on Systems, Jahrgang 18, 26, 2019, S. 198-212.Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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TY - JOUR
T1 - Vertical Dynamics Description and its Control in the Presence of Nonlinear Friction
AU - Ferch, Tobias
AU - Mercorelli, Paolo
N1 - Publisher Copyright: © 2019 Authors. 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 , Mechanical friction , Displacement
KW - Simulations
KW - SMC , Applications
UR - http://www.scopus.com/inward/record.url?scp=85083153827&partnerID=8YFLogxK
M3 - Journal articles
VL - 18
SP - 198
EP - 212
JO - WSEAS Transactions on Systems
JF - WSEAS Transactions on Systems
SN - 1109-2777
M1 - 26
ER -