AUTHORS: Tobias Ferch, Paolo Mercorelli

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ABSTRACT: This paper deals with a control of a vertical dynamics in the presence of nonlinear friction in a robotic mechanism. The control structure, which is taken into consideration, is the Sliding Mode Control (SMC). Using this control technique, it is possible to show the asymptotical stability of the trajectory to be tracked. Simulation results show the effectiveness of the proposed control technique.

KEYWORDS: Mechanical systems - Mechanical friction – Displacement - SMC – Applications - Simulations

REFERENCES:

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