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

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Authors

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.
Original languageEnglish
Article number17
JournalWSEAS Transactions on Circuits and Systems
Volume18
Pages (from-to)102-112
Number of pages11
ISSN1109-2734
Publication statusPublished - 2019

Bibliographical note

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

    Research areas

  • Engineering - Mechanical systems, Mechanical friction, Displacement-SMC, Applications, Simulation

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