Global position regulation of friction manipulators via switched chattering control

Y. Orlov; J. Alvarez; L. Acho; L. Aguilar

doi:10.1080/0020717031000149627

Global position regulation of friction manipulators via switched chattering control

Y. Orlov, J. Alvarez, L. Acho, L. Aguilar

Research output: Contribution to journal › Article › peer-review

42 Scopus citations

Abstract

Switched position control algorithms are developed to globally stabilize friction mechanical manipulators around a desired position. Both static and dynamic position feedback designs are presented. The controllers constructed, referred to as chattering controllers, do not rely on the generation of sliding motions while providing robustness features similar to those possessed by their sliding mode counterparts. Stability analysis is given within the Lyapunov vector functions framework extended to discontinuous dynamic systems. Performance issues of the chattering controllers are evaluated in an experimental study of a three degrees-of-freedom robot manipulator.

Original language	English
Pages (from-to)	1446-1452
Number of pages	7
Journal	International Journal of Control
Volume	76
Issue number	14
DOIs	https://doi.org/10.1080/0020717031000149627
State	Published - 20 Sep 2003
Externally published	Yes

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10.1080/0020717031000149627

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abstract = "Switched position control algorithms are developed to globally stabilize friction mechanical manipulators around a desired position. Both static and dynamic position feedback designs are presented. The controllers constructed, referred to as chattering controllers, do not rely on the generation of sliding motions while providing robustness features similar to those possessed by their sliding mode counterparts. Stability analysis is given within the Lyapunov vector functions framework extended to discontinuous dynamic systems. Performance issues of the chattering controllers are evaluated in an experimental study of a three degrees-of-freedom robot manipulator.",

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AU - Alvarez, J.

AU - Acho, L.

AU - Aguilar, L.

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PY - 2003/9/20

Y1 - 2003/9/20

N2 - Switched position control algorithms are developed to globally stabilize friction mechanical manipulators around a desired position. Both static and dynamic position feedback designs are presented. The controllers constructed, referred to as chattering controllers, do not rely on the generation of sliding motions while providing robustness features similar to those possessed by their sliding mode counterparts. Stability analysis is given within the Lyapunov vector functions framework extended to discontinuous dynamic systems. Performance issues of the chattering controllers are evaluated in an experimental study of a three degrees-of-freedom robot manipulator.

AB - Switched position control algorithms are developed to globally stabilize friction mechanical manipulators around a desired position. Both static and dynamic position feedback designs are presented. The controllers constructed, referred to as chattering controllers, do not rely on the generation of sliding motions while providing robustness features similar to those possessed by their sliding mode counterparts. Stability analysis is given within the Lyapunov vector functions framework extended to discontinuous dynamic systems. Performance issues of the chattering controllers are evaluated in an experimental study of a three degrees-of-freedom robot manipulator.

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Global position regulation of friction manipulators via switched chattering control

Abstract

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