Title :
Second order sliding mode control of systems with nonlinear friction
Author :
Bartolini, G. ; Punta, E.
Author_Institution :
DIEE, Cagliari Univ., Italy
Abstract :
A second order sliding mode control algorithm conceived as a solution to the chattering elimination problem is proved to be effective also against discontinuous disturbances such as friction. The stabilization problem for a mechanical system is considered and solved by the proposed control algorithm. The method is effective in avoiding complex stick-slip phenomena, since during the transients no oscillations or overshoot take place
Keywords :
control nonlinearities; friction; sampled data systems; stability; variable structure systems; chattering elimination problem; complex stick-slip phenomena; discontinuous disturbances; mechanical system; nonlinear friction; second order sliding mode control; Control systems; Friction; Limit-cycles; Mechanical systems; Motion control; Nonlinear systems; Pathology; Robust control; Sliding mode control; Uncertainty;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.914120
