Sliding mode control with H∞ attenuator for unmatched disturbances in a mechanical system with friction and a force constraint

Author

Rascon, Raul ; Alvarez, Joaquin ; Aguilar, Luis T.

Author_Institution

Electron. & Telecommun. Dept, CICESE Res. Center, San Diego, CA, USA

fYear

2012

fDate

12-14 Jan. 2012

Firstpage

434

Lastpage

439

Abstract

A method using sliding mode and non-linear H_∞ control is presented for an underactuated mechanical system with friction and a force constraint to solve a position regulation problem. A low pass filter is suggested to be used for the observer realization. It was proved that the nonlinear system is globally asymptotically stable and achieves zero steady-state position error even in the presence of certain disturbances, otherwise the controller attenuates others external perturbations and dead zone model discrepancies. The results obtained are illustrate by numerical simulations.

Keywords

H^∞ control; asymptotic stability; low-pass filters; manipulators; motion control; nonlinear control systems; numerical analysis; observers; position control; variable structure systems; H∞ attenuator; dead zone model discrepancies; external perturbations; force constraint; friction constraint; global asymptotic stability; low pass filter; nonlinear H_∞ control; nonlinear system; numerical simulations; observer realization; position regulation problem; sliding mode control; underactuated mechanical system; unmatched disturbances; zero steady-state position error; Approximation methods; Force; Friction; Mathematical model; Mechanical systems; Sliding mode control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Variable Structure Systems (VSS), 2012 12th International Workshop on

Conference_Location

Mumbai, Maharashtra

ISSN

2158-3978

Print_ISBN

978-1-4577-2066-6

Electronic_ISBN

2158-3978

Type

conf

DOI

10.1109/VSS.2012.6163541

Filename

6163541