Implicit Implementation of Nonsmooth Controllers to Nonsmooth Actuators

This article presents an approach to implement a sliding-mode position controller to a plant equipped with a nonsmooth actuator. The actuator is modeled as a set-valued function from the control input and the velocity to the actuator force, which is motivated by quasi-static characteristics of hydra...

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Bibliographic Details
Published in:	IEEE Transactions on Automatic Control Vol. 67; no. 9; pp. 4645 - 4657
Main Authors:	Kikuuwe, Ryo, Yamamoto, Yuki, Brogliato, Bernard
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.09.2022 Institute of Electrical and Electronics Engineers (IEEE) The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Institute of Electrical and Electronics Engineers
Subjects:	[MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC] [SPI.AUTO] Engineering Sciences [physics]/Automatic Actuators Automatic Controllers Differential inclusions Engineering Sciences Force Hydraulic actuators Hydraulic equipment implicit discretization Licenses Mathematics Optimization and Control Position control Predictive models set-valuedness Sliding mode control Stability analysis Static characteristics Valves sliding-mode control hydraulic actuators implicit discretization set-valuedness differential inclusions
ISSN:	0018-9286, 2334-3303, 1558-2523
Online Access:	Get full text
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