Robust stabilization of nonlinear uncertain plants with hysteresis in the actuator: A sliding mode approach

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

Volumn 3, Issue , 2002, Pages 500-505

  Corradini, M Letizia ^a   Parlangeli, Gianfranco ^a  

^a UNIVERSITY OF SALENTO   (Italy)

Author keywords

Noiismooth Nonlinearity; Nonlinear Systems; Robust Control; Sliding Mode Control

Indexed keywords

ACTUATORS; COMPUTER SIMULATION; HYSTERESIS; ROBUSTNESS (CONTROL SYSTEMS); SLIDING MODE CONTROL; SYSTEM STABILITY; UNCERTAIN SYSTEMS;

SINGLE INPUT SINGLE OUPTUT (SISO) SYSTEMS;

NONLINEAR SYSTEMS;

EID: 0037670065     PISSN: 08843627     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (19)

1. Tao G., Kokotovic P.V. (1996). Adaptive control of systems with actuator and sensor nonlinearities, Wiley.
2. Macki, J.W.; Nistri P.; Zecca P. (1993). Mathematical models for hysteresis. SIAM Rev., Vol.35, 94-123.
3. Visintin A. (1994). Differential models of hysteresis, Springer, Berlin.
4. Brokate M., Sprekels J. (1996). Hysteresis and Phase Transitions, Springer, Berlin.
5. Hatipoglu C., Özgüner Ü. (1998). "Robust control of systems involving nonsmooth nonlinearities using modified sliding manifolds." in Proc. Amer. Control Conf., pp. 2133-2137.
6. Campos J., Lewis F.L., Selmic R. (2000). Backlash compensation in discrete time nonlinear systems using dynamic inversion by neural networks Proc. ICRA 2000, April 2000.
7. Desoer C.A., Shahruz S.M.(1986). "Stability of dithered non-linear systems with backlash or hysteresis." Int. J. Control, Vol.43, pp.1045-1060.
8. Lewis, F.L.; Liu K.; Selmic R.; Li-Xin Wang (1997). Adaptive fuzzy logic compensation of actuator dead-zones. J. of Robotic Systems, Vol. 14, 501-511.
9. Tao G., Ma X., Ling Y. (2001). "Optimal and nonlinear decoupling control of systems with sandwiched backlash." Automatica, Vol.37, pp.165-176.
10. Bai E.W. (2002). Identification of linear systems with hard input nonlinearities of known structure. Automatica, Vol.38, pp.853-860.
11. Tao G., Kokotovic P.V. (1995). Adaptive control of plants with unknown hysteresis. IEEE Trans. on Automatic Control, Vol.40, pp. 200-212.
12. Azenha, A.; Machado, J.A.T. (1996). Variable structure control of robots with nonlinear friction and backlash at the joints Proc. 1996 IEEE Int. Conf. Robotics and Automation Vol. 1,366-371.
13. Corradini M.L., Orlando G. (2002). "Robust stabilization of nonlinear uncertain plants with backlash or dead zone in the actuator" IEEE Transactions on Control Systems Technology, vol. 10, pp. 158-166.
14. Kwatny H.G., Mattice M.,Teolis C. (2002). "Variable structure control of systems with uncertain nonlinear friction" Automatica, vol. 38, pp. 1251-1256.
15. Utkin V.I. (1992). Sliding modes in control and optimization,Springer Verlag, New York.
16. De Carlo R.A., Matthews G.P., Zak S.H.(1988). Variable structure control of nonlinear multivariable systems: a tutorial. Proc. of the IEEE, vol. 76, 212-232.
17. Gao W., Hung J.Y., Hung J.C.(1993). Variable structure control: a survay. IEEE Trans. on Ind. Electr., vol. 40, 2-22.
18. Corradini M.L., Parlangeli G.(2002). Robust stabilization of nonlinear uncertain plants with hysteresis in the actuator via sliding modes. IEEE Transactions on Control Systems Technology, Submitted.
19. Slotine J.J.,Sastry S.S.(1983). Tracking control of nonlinear systems using sliding surfaces, with application to robot manipulators. Int. J. Control, vol. 38, 465-492.