Title :
Sliding mode and adaptive control for an underactuated process
Author :
Lucet, E. ; Liu, Y. ; Mechbal, N. ; Vergé, M.
Author_Institution :
ENSAM/LMSP, Paris
Abstract :
In this paper we design two controllers: a sliding mode controller and a new designed adaptive controller for an under actuated process with important dry friction. The two controllers are compared. Simulations and experiments are performed to evaluate the efficiency of the designed controllers.
Keywords :
adaptive control; compensation; control system synthesis; friction; process control; variable structure systems; adaptive control; compensation; controller design; dry friction; sliding mode control; underactuated process control; Adaptive control; Control systems; Friction; Gravity; Mechanical systems; Programmable control; Proportional control; Sliding mode control; System testing; Torque control;
Conference_Titel :
Control & Automation, 2007. MED '07. Mediterranean Conference on
Conference_Location :
Athens
Print_ISBN :
978-1-4244-1281-5
Electronic_ISBN :
978-1-4244-1282-2
DOI :
10.1109/MED.2007.4433791
