Resumen
It is presented a control strategy that combines the techniques of sliding mode control and nonlinear H∞ control to solve the position control problem of an underactuated mechanical system with friction and an elastic backlash. It is shown that the controlled system has a set of equilibrium points, and all the closed-loop trajectories converge asymptotically to that set, achieving a minimally bounded steady state position error, in spite of the presence of certain types of disturbances. Moreover, the controller attenuates the effect of external disturbances and uncertainties in the modeling of the plant. The controller has been implemented in an experimental platform that verifies the theoretical results.
Título traducido de la contribución | Robust position control for a mechanical system with friction and an elastic backlash |
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Idioma original | Español |
Páginas (desde-hasta) | 275-284 |
Número de páginas | 10 |
Publicación | RIAI - Revista Iberoamericana de Automatica e Informatica Industrial |
Volumen | 11 |
N.º | 3 |
DOI | |
Estado | Publicada - 2014 |
Palabras clave
- Robust control
- Sliding mode control
- Underactuated mechanical systems