A controller for 2-DOF underactuated mechanical systems with discontinuous friction |
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Authors: | Roque Martinez Joaquin Alvarez |
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Institution: | (1) Centro de Investigación Científica y de Educación Superior de Ensenada, B. C. Departamento de Electrónica y Telecomunicaciones, CICESE, Km. 107 Carr. Tijuana-Ensenada, C.P. 22860, Ensenada, B.C., México |
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Abstract: | We propose a controller for a class of 2-DOF underactuated mechanical systems with discontinuous friction in the unactuated
joint. The control objective is the regulation of the unactuated variable while the position and speed of the actuated joint
remain bounded. The unactuated joint is considered as a mechanical system with discontinuous friction but continuous, artificial
control input given by a term depending on the actuated positions and velocities. The proposed controller guarantees the convergence
of the position error of the unactuated joint to zero, and it is robust with respect to some uncertainty in the discontinuous
friction coefficients. We illustrate the technique with its application to two systems. |
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Keywords: | Asymptotic stability Friction Mechanical systems Uncertainty Underactuation |
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