Technical Communique: Variable structure control of systems with uncertain nonlinear friction

Authors:
H. G. Kwatny;C. Teolis;M. Mattice
Affiliations:
Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA 19104, USA;Techno-Sciences, Incorporated, 10001 Derekwood Lane, Suite 204, Lanham, MD 20706, USA;Advanced Drives and Weapon Stabilization Lab, U. S. Army, ARDEC, Picatinny Arsenal, NJ 07806, USA
Venue:
Automatica (Journal of IFAC)
Year:
2002

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Abstract

A new approach to control system design for systems containing sandwiched, uncertain, non-smooth friction is proposed. The method is based on a multi-state backstepping approach to variable structure control design. Stability and robustness properties are investigated and examples are given.