Journal
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume 10, Issue 1, Pages 158-166Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/87.974349
Keywords
actuator nonlinearity; nonlinear systems; robust control; sliding mode control
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Actuator nonlinearities are often neglected in control system design, though they can remarkably affect systems performance. This paper presents sliding mode controllers able to robustly stabilize an intrinsically nonlinear uncertain plant, in the presence of dead zone or backlash in the actuator devices. These nonlinearities have been assumed uncertain, too, with known bounds on the parameters. In the case of backlash, two different approaches have been presented, obtained using a quasistatic and a dynamic description of the nonlinearity. Simulation results for a single input-single output (SISO) plant have been provided, addressing both the stabilization and the servo problem for a mechanical system representing a robot-like system with one link.
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