| Autor: |
Kikuuwe, Ryo, Yamamoto, Yuki, Brogliato, Bernard |
| Předmět: |
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| Zdroj: |
IEEE Transactions on Automatic Control; Sep2022, Vol. 67 Issue 9, p4645-4657, 13p |
| Abstrakt: |
This article presents an approach to implement a sliding-mode position controller to a plant equipped with a nonsmooth actuator. The actuator is modeled as a set-valued function from the control input and the velocity to the actuator force, which is motivated by quasi-static characteristics of hydraulic actuators shown in a previous study. The implementation of the sliding-mode controller is performed with the implicit discretization of the nominal plant model and the controller, which copes with the difficulties caused by the set-valuedness, such as numerical chattering. Stability analyses both in the continuous-time and discrete-time domains are presented. Simulation results illustrate the theoretical findings. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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