TY - JOUR
T1 - Sliding mode control with H ∞ attenuator for unmatched disturbances in a mechanical system with friction and a force constraint
AU - Rascon, Raul
AU - Alvarez, Joaquin
AU - Aguilar, Luis T.
PY - 2012
Y1 - 2012
N2 - A method using sliding mode and non-linear H ∞ control is presented for an underactuated mechanical system with friction and a force constraint to solve a position regulation problem. A low pass filter is suggested to be used for the observer realization. It was proved that the nonlinear system is globally asymptotically stable and achieves zero steady-state position error even in the presence of certain disturbances, otherwise the controller attenuates others external perturbations and dead zone model discrepancies. The results obtained are illustrate by numerical simulations.
AB - A method using sliding mode and non-linear H ∞ control is presented for an underactuated mechanical system with friction and a force constraint to solve a position regulation problem. A low pass filter is suggested to be used for the observer realization. It was proved that the nonlinear system is globally asymptotically stable and achieves zero steady-state position error even in the presence of certain disturbances, otherwise the controller attenuates others external perturbations and dead zone model discrepancies. The results obtained are illustrate by numerical simulations.
UR - http://www.scopus.com/inward/record.url?scp=84860725097&partnerID=8YFLogxK
U2 - 10.1109/VSS.2012.6163541
DO - 10.1109/VSS.2012.6163541
M3 - Artículo de la conferencia
AN - SCOPUS:84860725097
SN - 2165-4816
SP - 434
EP - 439
JO - Proceedings of IEEE International Workshop on Variable Structure Systems
JF - Proceedings of IEEE International Workshop on Variable Structure Systems
M1 - 6163541
T2 - 2012 12th International Workshop on Variable Structure Systems, VSS 2012
Y2 - 12 January 2012 through 14 January 2012
ER -