TY - GEN
T1 - Feedback stabilization and force control using sliding modes in a mechanical system subject to unilateral constraints
AU - Rascón, Raul
AU - Alvarez, Joaquín
AU - Aguilar, Luis T.
PY - 2010
Y1 - 2010
N2 - Force feedback sometimes produces an undesirable chattering behavior, where the mechanical system repeatedly makes and breaks contact with the constraint surface this have been shown in experiments on single degree of freedom (1-DOF). This behavior is an example of a limit cycle, and is likely caused by the nonlinearity in the system dynamics introduced by the unilateral (i.e. one-sided) constraint. Yet most published stability analyses of force-controlled robots assume that the constraint is bilateral, meaning the mechanical system never loses contact with the constraint. In this note, we analyze the stability of a 1-DOF force-controlled mechanical system in contact with a rigid unilateral constraint applying a sliding mode control algorithm, with the force sensor modeled as a stiff spring. It is proved that the nonlinear system is globally asymptotically stable and achieves zero steady-state force error.
AB - Force feedback sometimes produces an undesirable chattering behavior, where the mechanical system repeatedly makes and breaks contact with the constraint surface this have been shown in experiments on single degree of freedom (1-DOF). This behavior is an example of a limit cycle, and is likely caused by the nonlinearity in the system dynamics introduced by the unilateral (i.e. one-sided) constraint. Yet most published stability analyses of force-controlled robots assume that the constraint is bilateral, meaning the mechanical system never loses contact with the constraint. In this note, we analyze the stability of a 1-DOF force-controlled mechanical system in contact with a rigid unilateral constraint applying a sliding mode control algorithm, with the force sensor modeled as a stiff spring. It is proved that the nonlinear system is globally asymptotically stable and achieves zero steady-state force error.
UR - http://www.scopus.com/inward/record.url?scp=77956568667&partnerID=8YFLogxK
U2 - 10.1109/VSS.2010.5544700
DO - 10.1109/VSS.2010.5544700
M3 - Contribución a la conferencia
AN - SCOPUS:77956568667
SN - 9781424458318
T3 - Proceedings of the 2010 11th International Workshop on Variable Structure Systems, VSS 2010
SP - 341
EP - 345
BT - Proceedings of the 2010 11th International Workshop on Variable Structure Systems, VSS 2010
T2 - 2010 11th International Workshop on Variable Structure Systems, VSS 2010
Y2 - 26 June 2010 through 28 June 2010
ER -