Title :
Sliding mode control with H∞ attenuator for unmatched disturbances in a mechanical system with friction and a force constraint
Author :
Rascon, Raul ; Alvarez, Joaquin ; Aguilar, Luis T.
Author_Institution :
Electron. & Telecommun. Dept, CICESE Res. Center, San Diego, CA, USA
Abstract :
A method using sliding mode and non-linear H∞ control is presented for an underactuated mechanical system with friction and a force constraint to solve a position regulation problem. A low pass filter is suggested to be used for the observer realization. It was proved that the nonlinear system is globally asymptotically stable and achieves zero steady-state position error even in the presence of certain disturbances, otherwise the controller attenuates others external perturbations and dead zone model discrepancies. The results obtained are illustrate by numerical simulations.
Keywords :
H∞ control; asymptotic stability; low-pass filters; manipulators; motion control; nonlinear control systems; numerical analysis; observers; position control; variable structure systems; H∞ attenuator; dead zone model discrepancies; external perturbations; force constraint; friction constraint; global asymptotic stability; low pass filter; nonlinear H∞ control; nonlinear system; numerical simulations; observer realization; position regulation problem; sliding mode control; underactuated mechanical system; unmatched disturbances; zero steady-state position error; Approximation methods; Force; Friction; Mathematical model; Mechanical systems; Sliding mode control; Trajectory;
Conference_Titel :
Variable Structure Systems (VSS), 2012 12th International Workshop on
Conference_Location :
Mumbai, Maharashtra
Print_ISBN :
978-1-4577-2066-6
Electronic_ISBN :
2158-3978
DOI :
10.1109/VSS.2012.6163541
