Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Bartolini G., Punta E. Second Order Sliding Mode Control of Systems with Nonlinear Friction. In: 39th IEEE Conference on Decision and Control (Sydney, Australia, 12-15 December 2000). Proceedings, vol. 3 pp. 2192 - 2197. IEEE, 2000.
A second order sliding mode control algorithm conceived as a solution to the chattering elimination problem is proved to be effective also against discontinuous disturbances such as friction. The stabilization problem for a mechanical system is considered and solved by the proposed control algorithm. The method is effective in avoiding complex stick-slip phenomena, since during the transients no oscillations or overshoot take place.
DOI: 10.1109/CDC.2000.914120
Subject control nonlinearities
sampled data systems
variable structure systems

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