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

Abstract

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.

Modeling and Simulation of the Automated Lane Change Process, Taking Into Account Freeplay and Friction in the Vehicle Steering System

“…The in uence of freeplay and dry friction on control effects has been discussed in a number of publications, e.g. [2,7,28,30]. But these works do not relate directly to the automotive issues.…”

Implementation of a Controller to Eliminate the Limit Cycle in the Inverted Pendulum on a Cart

“…As a matter of fact, compensation of friction in mechanical systems has been carried out to achieve a better control of position [4][5][6][7][8]. Limit cycles generated by the static and Coulomb friction have been treated in [1,[9][10][11][12][13][14] and the stability analysis of systems with friction has been introduced in [15][16][17]. On the other hand, underactuated mechanical systems, and in particular inverted pendulums, have attracted the attention of several researchers because they are an excellent benchmark to study position control, limit cycles, and system stability [18].…”