Hybrid sliding-mode-based control of underactuated systems with dry friction

IEEE Transactions on Industrial Electronics

Volumn 55, Issue 11, 2008, Pages 3998-4003

  Martinez, Roque ^a   Alvarez, Joaquin ^b   Orlov, Yuri ^b  

^a UNIVERSIDAD AUTÓNOMA DE ZACATECAS   (Mexico)

^b CENTRO DE INVESTIGACIÓN CIENTÍFICA Y DE EDUCACIÓN SUPERIOR DE ENSENADA   (Mexico)

Author keywords

Friction; Mechanical systems; Stability; Uncertainty; Underactuation

Indexed keywords

CONTROL SYSTEMS; CURING; DRIVES; FRICTION; MECHANICAL ENGINEERING; MECHANICS; MECHATRONICS; SYSTEM STABILITY; TRIBOLOGY;

ACTUATED JOINTS; CONTROL ALGORITHMS; CONTROL INPUTS; CONTROL METHODS; CONTROL OBJECTIVES; COULOMB FRICTIONS; DESIGN FEATURES; DESIRED POSITIONS; DRY FRICTIONS; EXPERIMENTAL STUDIES; FINITE TIMES; HYBRID CONTROLS; LOOP SYSTEMS; MECHANICAL SYSTEMS; PERFORMANCE ISSUES; SYNTHESIS PROCEDURES; TECHNICAL SOLUTIONS; UNACTUATED; UNCERTAINTY; UNDERACTUATED MECHANICAL SYSTEMS; UNDERACTUATED SYSTEMS; UNDERACTUATION;

CONTROL THEORY;

EID: 56349147051     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2008.2004660     Document Type: Article

References (26)

1. J. Alvarez, I. Orlov, and L. Acho, "An invariance principle for discontinuous dynamic systems with application to a Coulomb friction oscillator," Trans. ASME, J. Dyn. Syst. Meas. Control, vol. 122, no. 4, pp. 687-690, Dec. 2000.
2. G. Bartolini, "Chattering phenomena in discontinuous control systems," Int. J. Syst. Sci., vol. 20, no. 12, pp. 2471-2481, 1989.
3. G. Bartolini and E. Punta, "Second order sliding mode control of systems with nonlinear friction," in Proc. 39th IEEE Conf. Decision Control, 2000, vol. 3, pp. 2192-2197.
4. A. M. Bloch, N. E. Leonard, and J. E. Marsden, "Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem," IEEE Trans. Autom. Control, vol. 45, no. 12, pp. 2253-2270, Dec. 2000.
5. F. Bullo and K.M. Lynch, "Kinematic controllability for decoupled trajectory planning in underactuated mechanical systems," IEEE Trans. Robot. Autom., vol. 17, no. 4, pp. 402-412, Aug. 2001.
6. S. S. Ge, "Adaptive controller design for flexible joint manipulators," Automatica, vol. 32, no. 1, pp. 273-278, Feb. 1996.
7. R. Fierro, F. L. Lewis, and A. Lowe, "Hybrid control for a class of underactuated mechanical systems," IEEE Trans. Syst., Man, Cybern. A, Syst., Humans, vol. 29, no. 6, pp. 649-654, Nov. 1999.
8. A. F. Filippov, Differential Equations with Discontinuous Right-Hand Side. Dordrecht, The Netherlands: Kluwer, 1988.
9. L. Fridman and A. Levant, Higher Order Sliding Modes, in Sliding Mode Control in Engineering, W. Perruquetti and J.-P. Barbout, Eds. New York: Marcel Dekker, 2002, pp. 53-102.
10. F. Gomez-Estern and A. J. van der Schaft, "Physical damping in IDA-PBC controlled underactuated mechanical systems," Eur. J. Control, vol. 10, no. 5, pp. 451-468, 2004.
11. J. W. Grizzle, C. H. Moog, and C. Chevallereau, "Nonlinear control of mechanical systems with an unactuated cyclic variable," IEEE Trans. Autom. Control, vol. 50, no. 5, pp. 559-576, May 2005.
12. R. Kelly, V. Santibáñez, and A. Loría, Control of Robot Manipulators in Joint Space. Advanced Textbooks in Control and Signal Processing. London, U.K.: Springer-Verlag, 2005.
13. H. Khalil, Nonlinear Systems, 3rd ed. Upper Saddle River, NJ: Prentice-Hall, 2002.
14. A. G. Loukianov, J. M. Cañedo, V. I. Utkin, and J. Cabrera-Vázques, "Discontinuous controller for power systems: Sliding-mode block control approach," IEEE Trans. Ind. Electron., vol. 51, no. 2, pp. 340-353, Apr. 2004.
15. R. Martínez and J. Alvarez, "A controller for 2-DOF underactuated mechanical systems with discontinuous friction," Nonlinear Dyn., vol. 53, no. 3, pp. 191-200, 2008. DOI: 10.1007/s11071-007-9307-1.
16. H. Olsson, K. Astrom, C. Canudas de Wit, M. Gafvert, and P. Lischinsky, "Friction models and friction compensation," Eur. J. Control, vol. 4, no. 3, pp. 176-195, 1998.
17. Y. Orlov, "Extended invariance principle for nonautonomous switched systems," IEEE Trans. Autom. Control, vol. 48, no. 8, pp. 1448-1452, Aug. 2003.
18. Y. Orlov, "Finite time stability and robust control synthesis of uncertain switched systems," SIAM J. Control Optim., vol. 43, no. 4, pp. 1253-1271, 2005.
19. R. Ortega, M. W. Spong, F. Gomez-Estern, and G. Blankenstein, "Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment," IEEE Trans. Autom. Control vol. 47, no. 8, pp. 1218-1233, Aug. 2002.
20. M. Reyhanoglu, A. van der Schaft, M. H. McClamroch, and I. Kolmanovsky, "Dynamics and control of a class of underactuated mechanical systems," IEEE Trans. Autom. Control, vol. 44, no. 9, pp. 1663-1671, Sep. 1999.
21. S. Riachy, Y. Orlov, T. Floquet, R. Santiesteban, and J. P. Richard, "Second-order sliding mode control of underactuated mechanical systems I: Local stabilization with application to an inverted pendulum," Int. J. Robust Nonlinear Control, vol. 18, no. 4/5, pp. 529-543, May 2008.
22. D. Seto and J. Baillieul, "Control problems in super-articulated mechanical systems," IEEE Trans. Autom. Control, vol. 39, no. 12, pp. 2442-2453, Dec. 1994.
23. A. Shiriaev, J. W. Perram, and C. Canudas-de-Wit, "Constructive tool for orbital stabilization of underactuated nonlinear systems: Virtual constraints approach," IEEE Trans. Autom. Contol, vol. 50, no. 8, pp. 1164-1176, Aug. 2005.
24. C. A.Woolsey, A. M. Bloch, N. E. Leonard, and J. E. Marsden, "Physical dissipation and the method of controlled Lagrangians," in Proc. Eur. Control Conf., Porto, Portugal, 2001, pp. 2570-2575.
25. C. Woolsey, A. M. Bloch, N. E. Leonard, C. K. Reddy, D. E. Chang, and J. E. Marsden, "Controlled Lagrangian systems with gyroscopic forcing and dissipation," Eur. J. Control, vol. 10, no. 5, pp. 478-496, 2004.
26. M. Zhang and T. Tarn, "A hybrid switching control strategy for nonlinear and underactuated mechanical systems," IEEE Trans. Autom. Control, vol. 48, no. 10, pp. 1777-1782, Oct. 2003.