Regulation control of an underactuated mechanical system with discontinuous friction and backlash

• Autorzy: Rascón R. , Rosas D. , Hernandez-Balbuena D.

Identyfikatory

DOI

10.1515/amcs-2017-0055

• Języki publikacji: EN

Abstrakty

EN

In this work, the problem of position regulation control is addressed for a 2DOF underactuated mechanical system with friction and backlash. For this purpose, a method combining sliding mode and H∞ control is developed. We prove that the application of the method to the nonlinear model considered results in an asymptotically stable equilibria set. Moreover, it is possible to achieve a sufficiently small and bounded steady-state position error even in the presence of disturbances by employing the proposed technique. That is, the developed controller is able to account not only for unmatched external perturbations and model discrepancies of the test rig considered, but also for matched bounded perturbations. The control methodology is presented from both the theoretical and experimental angles to demonstrate the good performance of the proposed controller.

Słowa kluczowe

EN

underactuated mechanical system; sliding mode control; H infinity control; discontinuous observer

PL

sterowany układ mechaniczny; sterowanie ślizgowe; obserwator nieciągły

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2017
• Tom: Vol. 27, no. 4
• Strony: 785--797
• Opis fizyczny: Bibliogr. 42 poz., rys., tab., wykr.

Twórcy

autor

Rascón R.

• Faculty of Engineering, UABC Autonomous University of Baja California, Blvd. Benito Juárez y Calle de la Normal S/N, 21280, Mexicali, Baja California, México

autor

Rosas D.

• Faculty of Engineering, UABC Autonomous University of Baja California, Blvd. Benito Juárez y Calle de la Normal S/N, 21280, Mexicali, Baja California, México

autor

Hernandez-Balbuena D.

• Faculty of Engineering, UABC Autonomous University of Baja California, Blvd. Benito Juárez y Calle de la Normal S/N, 21280, Mexicali, Baja California, México

Bibliografia

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).