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 language | English |
|---|---|
| Article number | 17 |
| Journal | WSEAS Transactions on Circuits and Systems |
| Volume | 18 |
| Pages (from-to) | 102-112 |
| Number of pages | 11 |
| ISSN | 1109-2734 |
| Publication status | Published - 2019 |
Bibliographical note
Publisher Copyright:
© 2019 WSEAS TRANSACTIONS on CIRCUITS and SYSTEMS. All rights reserved.
- Engineering - Mechanical systems, Mechanical friction, Displacement-SMC, Applications, Simulation