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Force/motion sliding mode control of three typical mechanisms
Author(s) -
Fung RongFong,
Chang ChinFu
Publication year - 2009
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.96
Subject(s) - control theory (sociology) , lagrange multiplier , trajectory , mechanism (biology) , crank , constraint (computer aided design) , motion control , computer science , sliding mode control , motion (physics) , mode (computer interface) , tracking (education) , torque , control engineering , control (management) , engineering , mathematics , physics , artificial intelligence , mathematical optimization , mechanical engineering , robot , pedagogy , psychology , quantum mechanics , astronomy , nonlinear system , thermodynamics , operating system
This paper proposes a sliding mode control (SMC) algorithm for trajectory tracking of the slider‐crank mechanism, quick‐return mechanism, and toggle mechanism. First, the dynamic models suitable for the controls of both the motion and constrained force are derived using Hamilton's principle, the Lagrange multiplier, and implicit function theory. Second, the SMC is designed to ensure the input torques can achieve trajectory tracking on the constrained surfaces with specific constraint forces. Finally, the developed method is successfully verified for effectiveness of the force/motion controls for these three typical mechanisms from the results of simulation. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society