AUTHORS: Tobias Ferch, Paolo Mercorelli

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ABSTRACT: This paper deals with a control of a vertical dynamics in the presence of nonlinear friction in a robotic mechanism. The control structure, which is taken into consideration, is the Sliding Mode Control (SMC). Using this control technique, it is possible to show the asymptotical stability of the trajectory to be tracked. Simulation results show the effectiveness of the proposed control technique.

KEYWORDS: Mechanical systems - Mechanical friction – Displacement - SMC – Applications - Simulations

REFERENCES:

[1] Ferch Tobias, Mercorelli Paolo Sliding Mode Control for a Vertical Dynamics in the Presence of Nonlinear Friction, WSEAS Transactions on Circuits and Systems, Volume 18, pp. 102-112, 2019.

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[3] Zwerger Tanja, Mercorelli Paolo Combining an Internal SMC with an External MTPA Control Loop for an Interior PMSM. In Proc. of the 2018 23rd Int. Conf. on Methods and Models in Automation and Robotics, MMAR 2018, 2018, pp. 674-679

[4] Mercorelli Paolo An antisaturating adaptive preaction and a slide surface to achieve soft landing control for electromagnetic actuators. In IEEE/ASME Trans. on Mechatronics, vol.17, n.1, pp.76-85, 2012.

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