Title :
Control design of nonlinear mechanical systems with friction
Author :
Nakakuki, Takashi ; Tamura, Katsutoshi
Author_Institution :
Dept. of Mech. Eng., Sophia Univ., Tokyo, Japan
Abstract :
This paper presents a solid analysis and control design of nonlinear mechanical systems with friction. Utilizing the Filippov solution concept, it is shown that the class of nonsmooth systems can not be asymptotically stabilized via any Lipschitz continuous static control law. Then, a sliding mode controller which makes the nonsmooth mechanical system asymptotically stable is derived. The validity of the controller design is verified by a simulation example for an electronic throttle control system.
Keywords :
asymptotic stability; control system analysis; control system synthesis; friction; mechanical variables control; nonlinear systems; variable structure systems; Filippov solution concept; Lipschitz continuous static control law; asymptotic stability; controller design; electronic throttle control system; friction; nonlinear mechanical systems control design; nonsmooth systems; sliding mode controller; Asymptotic stability; Control design; Control system synthesis; Control systems; Differential equations; Friction; Mechanical systems; Oscillators; Sliding mode control; Solids;
Conference_Titel :
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Print_ISBN :
0-7803-8682-5
DOI :
10.1109/CDC.2004.1428918
