Automatica, Vol.38, No.7, 1251-1256, 2002
Variable structure control of systems with uncertain nonlinear friction
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.
Keywords:friction compensation;variable structure control;discontinuous nonlinearities;norm-bounded uncertainty;backstepping