A technique to design a dynamic continuous controller to regulate a class of full-actuated mechanical systems with dry friction is proposed. It is shown that the control eliminates the steady-state error and is robust with respect to parameter uncertainties. A simple method to find the parameters of the controller is also proposed. Moreover, an application of this result to control a 2-DOF underactuated mechanical system with dry friction in the non-actuated joint is described. Here, the control objective is to regulate the non- actuated variable while the position and speed of the actuated joint remain bounded. Performance issues of the developed synthesis are illustrated with numerical and experimental results.
['Roque Morán Martínez', 'Joaquin Alvarez']
Control of Mechanical Systems with Dry Friction