%0 Journal Article
%T Control of a class of multibody underactuated mechanical systems with discontinuous friction using sliding
%A Yang Liu
%J Transactions of the Institute of Measurement and Control
%@ 1477-0369
%D 2018
%R 10.1177/0142331216661759
%X This paper studies sliding-mode control of a class of multibody underactuated systems with discontinuous friction on the unactuated configuration variable taking into account parametric uncertainties. Global motion for this class system including sticking, stick-slip, and slip regimes are analysed, and their corresponding equilibria are identified. The control objective is to avoid the sticking and the stick-slip regimes while tracking a desired velocity in the slip regime. Three sliding-mode controllers which are robust to parametric uncertainties are proposed, and their stabilities are proved using the Lyapunov direct method. Two examples, a mass-spring-damping system and a drill-string system, are used to demonstrate the validity of the proposed controllers
%K Underactuated system
%K sliding-mode control
%K friction
%K stick-slip
%K parametric uncertainty
%U https://journals.sagepub.com/doi/full/10.1177/0142331216661759