<abstract xmlns="http://www.w3.org/1999/xhtml"><p> In this work, the problem of position regulation control is addressed for a 2DOF underactuated mechanical system with friction and backlash. For this purpose, a method combining sliding mode and H<sub>∞</sub> control is developed. We prove that the application of the method to the nonlinear model considered results in an asymptotically stable equilibria set. Moreover, it is possible to achieve a sufficiently small and bounded steady-state position error even in the presence of disturbances by employing the proposed technique. That is, the developed controller is able to account not only for unmatched external perturbations and model discrepancies of the test rig considered, but also for matched bounded perturbations. The control methodology is presented from both the theoretical and experimental angles to demonstrate the good performance of the proposed controller.</p></abstract>

In this work, the problem of position regulation control is addressed for a 2DOF underactuated mechanical system with friction and backlash. For this purpose, a method combining sliding mode and H∞ control is developed. We prove that the application of the method to the nonlinear model considered results in an asymptotically stable equilibria set. Moreover, it is possible to achieve a sufficiently small and bounded steady-state position error even in the presence of disturbances by employing the proposed technique. That is, the developed controller is able to account not only for unmatched external perturbations and model discrepancies of the test rig considered, but also for matched bounded perturbations. The control methodology is presented from both the theoretical and experimental angles to demonstrate the good performance of the proposed controller.

Regulation control of an underactuated mechanical system with discontinuous friction and backlash

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

In this work, the problem of position regulation control is addressed for a 2DOF underactuated mechanical system with friction and backlash. For this purpose,...

Regulation control of an underactuated mechanical system with discontinuous friction and backlash

Published Online: Jan 13, 2018

Page range: 785 - 797

Received: Oct 28, 2016

Accepted: Jun 28, 2017

DOI: https://doi.org/10.1515/amcs-2017-0055

Keywords
underactuated mechanical system, sliding mode control, H∞ control, discontinuous observer

© by Raúl Rascón

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Regulation control of an underactuated mechanical system with discontinuous friction and backlash

Published Online: Jan 13, 2018

Page range: 785 - 797

Received: Oct 28, 2016

Accepted: Jun 28, 2017

DOI: https://doi.org/10.1515/amcs-2017-0055

Keywordsunderactuated mechanical system, sliding mode control, H∞ control, discontinuous observer

© by Raúl Rascón

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
underactuated mechanical system, sliding mode control, H∞ control, discontinuous observer