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

Research output: Journal contributions › Journal articles › Research › peer-review

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 number26
JournalWSEAS Transactions on Systems
Volume18
Pages (from-to)198-212
Number of pages15
ISSN1109-2777
Publication statusPublished - 2019

Bibliographical note

Publisher Copyright:
© 2019 Authors. All rights reserved.

    Research areas

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

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