Global position regulation of friction manipulators via switched chattering control

Orlov, Yury; Álvarez, Joaquín; Acho, Leonardo; Aguilar, Luis T.

doi:10.1080/0020717031000149627

Cited by 35 publications

(31 citation statements)

References 12 publications

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“…Second order sliding motions appear on their intersections only. Compared to standard sliding mode controllers, the SOSM controllers exhibit additional attractive features recently illustrated in applications to fully actuated friction mechanical systems [23]- [27]. In those publications the SOSM controllers were demonstrated to be capable of providing the static position stabilization and the desired system performance in spite of significant uncertainties in the system description as is typically the case in control of electromechanical systems with complex hard-to-model nonlinear phenomena.…”

Section: Discussionmentioning

confidence: 99%

“…the quasihomogeneous controller (27), (28) ensures the uniform finite time stability of the (ξ,ξ) system. The equivalent dynamics on the manifold ξ = 0 is given by…”

Section: Control Law Designmentioning

confidence: 99%

“…In applications to fully actuated friction mechanical systems [23]- [27] these controllers were demonstrated to provide the desired system performance in spite of significant uncertainties in the system description as it is typically the case in control of electromechanical systems with complex hard-to-model nonlinear phenomena (examples are dry friction and backlash).…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Second‐order sliding mode control of underactuated mechanical systems I: Local stabilization with application to an inverted pendulum

Riachy

Orlov²,

Floquet

et al. 2007

Intl J Robust & Nonlinear

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. Second order sliding mode control of underactuated Mechanical systems I: Local stabilization with application to an inverted pendulum. International Journal of Robust and Nonlinear Control, Wiley, 2008, 18 (4-5) AbstractSecond order sliding mode control synthesis is developed for underactuated mechanical systems, operating under uncertainty conditions. In order to locally stabilize an underactuated system around an unstable equilibrium, an output is specified in such a way that the corresponding zero dynamics is locally asymptotically stable. Then, the desired stability property of the closed-loop system is provided by applying a quasihomogeneous second order sliding mode controller, driving the system to the zero dynamics manifold in finite time. Although the present synthesis exhibits an infinite number of switches on a finite time interval, it does not rely on the generation of first order sliding modes, while providing robustness features similar to those possessed by their standard sliding mode counterparts. A second order sliding mode appears on the zero dynamics manifold which is of co-dimension greater than the control space dimension. Performance issues of the proposed synthesis are illustrated in numerical and experimental studies of a cart-Pendulum system.

show abstract

Section: Discussionmentioning

confidence: 99%

“…the quasihomogeneous controller (27), (28) ensures the uniform finite time stability of the (ξ,ξ) system. The equivalent dynamics on the manifold ξ = 0 is given by…”

Section: Control Law Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Second‐order sliding mode control of underactuated mechanical systems I: Local stabilization with application to an inverted pendulum

Riachy

Orlov²,

Floquet

et al. 2007

Intl J Robust & Nonlinear

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show abstract

“…As a future work, and observing that we have used a smooth approximation of the signum function (loosing some performance property of discontinuous-chattering controllers [12]), with operational amplifier circuits, this signum function realization would be almost exactly to the desired one. So, real experimental results using the reset integrator realization with analog electronics would be profitable (in mind with the possibility of a patent).…”

Section: Resultsmentioning

confidence: 99%

“…Actually, and because of the signum function sgn(·), this controller belongs to the chattering class (see, for instance, [12]). …”

Section: Reset Integrator Control Designmentioning

confidence: 99%

Nonlinear Reset Integrator Control Design: Application to the Active Suspension Control of Vehicles

Acho¹

2014

Modelling, Identification and Control

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We present an unexampled reset integrator control design based on the Clegg integrator system. Using an appropriate mathematical model of our Clegg integrator controller, stability proof of the closed-loop system applied to the vibration control problem of a second-order system is shown without invoking hybrid system theory. Furthermore, we illustrate the applicability of our controller, from the numerical experiment point of view, to the suspension vibration control of vehicles.

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Control Lyapunov Functions

Orlov

2020

Nonsmooth Lyapunov Analysis in Finite and Infinite Dimensions

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Global position regulation of friction manipulators via switched chattering control

Cited by 35 publications

References 12 publications

Second‐order sliding mode control of underactuated mechanical systems I: Local stabilization with application to an inverted pendulum

Second‐order sliding mode control of underactuated mechanical systems I: Local stabilization with application to an inverted pendulum

Nonlinear Reset Integrator Control Design: Application to the Active Suspension Control of Vehicles

Control Lyapunov Functions

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