Abstract
It is presented a control strategy that combines the tech- niques of sliding mode control and nonlinear H∞ control to solve the position control problem of an underactuated mechan- ical system with friction and an elastic backlash. It is shown that the controlled system has a set of equilibrium points, and all the closed-loop trajectories converge asymptotically to that set, achieving a minimally bounded steady state position error, in spite of the presence of certain types of disturbances. More- over, the controller attenuates the effect of external disturbances and uncertainties in the modeling of the plant. The controller has been implemented in an experimental platform that verifies the theoretical results.
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