Regulation control of an underactuated mechanical system with discontinuous friction and backlash
In this work, the problem of position regulation control is addressed for a 2DOF underactuated mechanical system with friction and backlash. For this purpose, a method combining sliding mode and H∞ control is developed. We prove that the application of the method to the nonlinear model considered re...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Sciendo
2017-12-01
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| Series: | International Journal of Applied Mathematics and Computer Science |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/amcs-2017-0055 |