TY - JOUR
T1 - Regulation and force control using sliding modes to reduce rebounds in a mechanical system subject to a unilateral constraint
AU - Rascón, R.
AU - Alvarez, J.
AU - Aguilar, L. T.
PY - 2012/12/6
Y1 - 2012/12/6
N2 - In this study, a control algorithm is proposed, based on the sliding-mode technique, to regulate a single degree of freedom mechanical system subject to a unilateral constraint. The system may be in non-constrained motion at some time or in constrained motion at some other time. The system motion can be divided in three phases: free motion, constrained motion and transition (from non-constrained to constrained motion and vice versa). Only one control law is designed for the system, regardless of the motion phase. It is shown that the non-linear system is globally asymptotically stable and achieves zero steady-state position error. Numerical and experimental results show the performance of the proposed controller.
AB - In this study, a control algorithm is proposed, based on the sliding-mode technique, to regulate a single degree of freedom mechanical system subject to a unilateral constraint. The system may be in non-constrained motion at some time or in constrained motion at some other time. The system motion can be divided in three phases: free motion, constrained motion and transition (from non-constrained to constrained motion and vice versa). Only one control law is designed for the system, regardless of the motion phase. It is shown that the non-linear system is globally asymptotically stable and achieves zero steady-state position error. Numerical and experimental results show the performance of the proposed controller.
UR - http://www.scopus.com/inward/record.url?scp=84878382052&partnerID=8YFLogxK
U2 - 10.1049/iet-cta.2011.0314
DO - 10.1049/iet-cta.2011.0314
M3 - Artículo
SN - 1751-8644
VL - 6
SP - 2785
EP - 2792
JO - IET Control Theory and Applications
JF - IET Control Theory and Applications
IS - 18
ER -