In this paper, the control of a class of mechanical systems via output feedback is considered. The proposed control strategy is based on a second-order sliding manifold MIMO approach, that is used to design a robust multivariable linear controller. A trajectory tracking problem is faced and a suitable time-varying sliding surface is defined in order to deal with the so-called peaking phenomenon resulting from possible unmatched initial conditions of the reference trajectory. Experimental results are carried out on a 6-dof Comau SMART-3 S robot manipulator. As confirmed by experiments, the proposed control strategy exhibits high tracking accuracy and strong robustness properties against plant uncertainties and external disturbances.
High-order sliding control of mechanical systems: Theory and experiments
CAVALLO, Alberto;NATALE, Ciro
2004
Abstract
In this paper, the control of a class of mechanical systems via output feedback is considered. The proposed control strategy is based on a second-order sliding manifold MIMO approach, that is used to design a robust multivariable linear controller. A trajectory tracking problem is faced and a suitable time-varying sliding surface is defined in order to deal with the so-called peaking phenomenon resulting from possible unmatched initial conditions of the reference trajectory. Experimental results are carried out on a 6-dof Comau SMART-3 S robot manipulator. As confirmed by experiments, the proposed control strategy exhibits high tracking accuracy and strong robustness properties against plant uncertainties and external disturbances.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.