Control design of nonlinear mechanical systems with friction

被引：6

作者：

Nakakuki, T ^{[1
]}

Tamura, K ^{[1
]}

机构：

[1] Sophia Univ, Grad Div Sci & Technol, Dept Mech Engn, Chiyoda Ku, Tokyo 1028554, Japan

来源：

2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5 | 2004年

关键词：

D O I：

10.1109/CDC.2004.1428918

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a solid analysis and control design of nonlinear mechanical systems with friction. Utilizing the Filippov solution concept, it is shown that the class of nonsmooth systems can not be asymptotically stabilized via any Lipschitz continuous static control law. Then, a sliding mode controller which makes the nonsmooth mechanical system asymptotically stable is derived. The validity of the controller design is verified by a simulation example for an electronic throttle control system.

引用

页码：2966 / 2971

页数：6

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