Global position regulation of friction manipulators via switched chattering control

International Journal of Control

Volumn 76, Issue 14, 2003, Pages 1446-1452

  Orlov, Y ^a   Alvarez, J ^a   Acho, L ^b   Aguilar, L ^a  

^a Department of Electronics   (United States)

^b INSTITUTO POLITÉCNICO NACIONAL   (Mexico)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CONTROL EQUIPMENT; CONTROL SYSTEM SYNTHESIS; DEGREES OF FREEDOM (MECHANICS); ROBOTICS; ROBUSTNESS (CONTROL SYSTEMS); SLIDING MODE CONTROL; VECTORS;

CHATTERING CONTROLLERS;

MANIPULATORS;

EID: 0142168478     PISSN: 00207179     EISSN: None     Source Type: Journal    
DOI: 10.1080/0020717031000149627     Document Type: Article

References (20)

1. ALVAREZ, J., ORLOV, Y., and ACHO, L., 2000, An invariance principle for discontinuous dynamic systems with applications to a coulomb friction oscillator. Journal of Dynamic Systems, Measurement, and Control, 74, 190-198.
2. BARTOLINI, G., 1989, Chattering phenomena in discontinuous control systems. International Journal System Science, 20, 2471-2481.
3. BARTOLINI, G., FERRARA, A., and USAI, E., 2000, Chattering avoidance by second-order sliding mode control. IEEE Transactions on Automatic Control, AC-43, 241-246.
4. BERGHUIS, H., and NIJMEIJER, H., 1993, Global regulation of robots using only position measurements. Systems and Control Letters, 21, 289-293.
5. CANUDAS-DE-WIT, C., ASTROM, K., SORINE, M., and OLSSON, H., 1999, Control of systems with dynamic friction. Workshop on Systems with Friction, Hawaii, USA.
6. CRAIG, J., 1989, Introduction to Robotics: Mechanics and Control, second edition (Massachusetts, MA: Addison-Wesley Publishing).
7. FILIPPOV, A., 1988, Differential Equations with Discontinuous Right-hand Sides (Dordrecht: Kluwer Academic Publisher).
8. FRIDMAN, L., and LEVANT, A., 1996, Higher order sliding modes as a natural phenomenon in control theory. In Garafalo and Glielmo (Eds), Robust Control via Variable Structure and Lyapunov Techniques, Lecture Notes in Control and Information Science, vol. 217 (Berlin: Springer), pp. 107-133.
9. FRIDMAN, L., and LEVANT, A., 2002, Higher order sliding modes. In W. Perruquetti and J.-P. Barbout (Eds), Sliding Mode Control in Engineering (New York: Marcel Dekker), pp. 53-102.
10. FULLER, A., 1961, Relay control systems optimized for various performance criteria. Proc. First World Congress IFAC, Moscow, Russia (London: Butterworth), vol. 1, pp. 510-519.
11. KELLY, R., LLAMAS, J., and CAMPA, R., 2000, A measurement procedure for viscous and Coulomb friction. IEEE Transactions on Instrumentation and Measurement, 49, 857-861.
12. KHALIL, H., 1996, Nonlinear Systems, 2nd edn (New Jersey: Prentice Hall).
13. LEVANT, A., 1993, Sliding order and sliding accuracy in sliding mode control. International Journal of Control, 58, 1247-1263.
14. MICHEL, A., and WANG, K., 1995, Qualitative Theory of Dynamical Systems, the Role of Stability Preserving Mappings (New York: Marcel Dekker).
15. POPOV, V., 1973, Hyperstability of Control Systems (Berlin: Springer Verlag).
16. SHEVITZ, D., and PADEN, B., 1994, Lyapunov stability theory of nonsmooth systems. IEEE Transactions on Automatic Control, 39, 1910-1914.
17. TEEL, A., PANTELEY, E., and LORIA, A., 2001, Integral characterization of set UGAS of differential inclusions and applications. Proceedings of 5th IFAC Non-linear Control Systems, St. Petersburg, Russia, pp. 1091-1096, 2001. (To be published in Maths. Control Signals and Systems under title 'Integral Characterization of Uniform Asymptotic and Exponential Stability with Applications'.)
18. UTKIN, V. I., 1992, Sliding Modes in Control Optimization (Berlin: Springer Verlag).
19. UTKIN, V. I., GULDNER, J., and SHI, J., 1999, Sliding Modes in Electromechanical Systems (London: Taylor & Francis).
20. ZELIKIN, M., and BORISOV, V., 1994, Theory of Chattering Control with Applications to Cosmonautics, Robotics, Economics, and Engineering (Boston: Birkhäuser).