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Implicit Implementation of Nonsmooth Controllers to Nonsmooth Actuators

Abstract : This paper presents an approach to implement a sliding-mode position controller to a plant equipped with a nonsmooth actuator. The actuator is modeled as a setvalued function from the control input and the velocity to the actuator force, which is motivated by quasistatic characteristics of hydraulic actuators shown in a previous study. The implementation of the sliding-mode controller is performed with the implicit discretization of the nominal plant model and the controller, which copes with the difficulties caused by set-valuedness, such as numerical chattering. Stability analyses both in the continuous-time and discrete-time domains are presented. Simulation results illustrate the theoretical findings.
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Preprints, Working Papers, ...
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Contributor : Bernard Brogliato <>
Submitted on : Thursday, March 25, 2021 - 11:46:03 AM
Last modification on : Wednesday, March 31, 2021 - 10:10:42 AM


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  • HAL Id : hal-03180790, version 1



Ryo Kikuuwe, Yuki Yamamoto, Bernard Brogliato. Implicit Implementation of Nonsmooth Controllers to Nonsmooth Actuators. 2021. ⟨hal-03180790⟩



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