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Contribution to Book
High-order sliding mode controllers for mechanical systems with friction
Sliding Mode Control (2011)
  • Hector Puebla, UNIVERSIDAD AUTONOMA METROPOLITANA
Abstract

The IHOSMC approach consider the integration of a fractional power of the absolute value of the tracking error, coupled with the sign function (Laghrouche et al., 2007; Aguilar-Lopez et al., 2010). This control structure provides simplification of the control law and good robustness properties. In this chapter we extend the application of IHOSMC approaches to control a general class of mechanical systems with friction. The proposed controller yield to a robust performance in presence of external disturbances and uncertainty on the parameters of systems with friction.

Keywords
  • Friction compensation,
  • Sliding mode control,
  • Robust control
Publication Date
Spring February 15, 2011
Editor
Andrzej Bartoszewicz
Publisher
Intech
Series
1
ISBN
978-953-307-162-6
Citation Information
Hector Puebla. "High-order sliding mode controllers for mechanical systems with friction" 1CroatiaSliding Mode Control Vol. 1 (2011)
Available at: http://works.bepress.com/hector_puebla/22/