Title :
Nonsmooth control design of mechanical systems with friction in the sense of Filippov
Author :
Yao, Yu ; Huo, Xin ; Zheng, Kai ; Yang, Baoqing
Author_Institution :
Control & Simulation Center, Harbin Inst. of Technol., Harbin, China
Abstract :
Utilizing the notion of Filippov solution, a sliding mode control law is derived for generic second order nonlinear mechanical system with friction. The control law is designed with some tunable parameters and optional functions. The asymptotically stability of the closed-loop system is proved by the concept of the solution, nonsmooth analysis and nonsmooth Lyapunov stability theory. By some numerical examples, the correctness of the control law is illuminated. Finally, the validity of the controller design is verified by a simulation example for a flight simulation table system with Stricbeck friction model.
Keywords :
Lyapunov methods; asymptotic stability; closed loop systems; control system synthesis; friction; mechanical variables control; nonlinear control systems; variable structure systems; Filippov solution; Lyapunov stability theory; Stricbeck friction model; asymptotically stability; closed-loop system; nonlinear mechanical system; nonsmooth control design; sliding mode control; Asymptotic stability; Differential equations; Friction; Lyapunov method; Mechanical systems; Stability analysis; Trajectory; Filippov solution; Friction; Mechanical systems; Nonsmooth analysis; Sliding mode control;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5553898
