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.
- Friction compensation,
- Sliding mode control,
- Robust control
Available at: http://works.bepress.com/hector_puebla/22/