@inproceedings{7806193692ec44f98b00c90dd399079f,
title = "Switched chattering control of electrical servo-motors and backlash/friction attenuation",
abstract = "A switched control algorithm is developed to globally stabilize an electrical servo-motor operating under uncertainty conditions in the presence of complex nonlinear phenomena such as backlash, stick-slip motion, etc. Particularly, the chattering controller ensures robustness against external disturbances with the a priori known norm bounds, thus rejecting the influence of undesired backlash/friction effects on the motor. Stability analysis, given within the Lyapunov functions framework extended to discontinuous dynamic systems, additionally reveals a finite time convergence of the system trajectories to the equilibrium point. Performance issues of the controller are illustrated in a simulation study.",
keywords = "Attenuation, Convergence, Friction, Lyapunov method, Motion control, Nonlinear dynamical systems, Robust control, Servomotors, Stability analysis, Uncertainty",
author = "Y. Orlov and L. Aguilar and Cadiou, {J. C.}",
note = "Publisher Copyright: {\textcopyright} 2003 IEEE.; 1st International Conference Physics and Control, PhysCon 2003 ; Conference date: 20-08-2003 Through 22-08-2003",
year = "2003",
doi = "10.1109/PHYCON.2003.1237101",
language = "Ingl{\'e}s",
series = "2003 International Conference Physics and Control, PhysCon 2003 - Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1336--1341",
editor = "Fradkov, {Alexander L.} and N.N. Bolotnik and A.S. Kovaleva and A.N. Churilov and I.V. Miroshnik and P.V. Pakshin and E. Jonckheere and S.D. Zemlyakov",
booktitle = "Nonlinear Dynamics and Control",
address = "Estados Unidos",
}