Optimal sliding mode control for cutting tasks of quick-return mechanisms

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dc.contributor.authorPerrusquía, Adolfo
dc.contributor.authorFlores-Campos, Juan Alejandro
dc.contributor.authorYu, Wen
dc.date.accessioned2021-05-14T14:58:24Z
dc.date.available2021-05-14T14:58:24Z
dc.date.issued2021-04-28
dc.description.abstractA solution of the constant cutting velocity problem of quick-return mechanisms is the main concern of this paper. An optimal sliding mode control in the task space is used to achieve uniform and accurate cuts throughout the workpiece. The switching hyperplane is designed to minimize the position error of the slider-dynamics in an infinite horizon. A Jacobian compensator is used to exploit the mechanical advantage and ensure controllability. The velocity profile is constructed in terms of the mechanism and workpiece geometric properties. Stability of the closed-loop dynamics is verified with the Lyapunov stability theory. Experiments are carried out in a quick-return mechanism prototype to validate the proposal.en_UK
dc.identifier.citationPerrusquía A, Flores-Campos JA, Yu W. (2022) Optimal sliding mode control for cutting tasks of quick-return mechanisms. ISA Transactions, Volume 122, March 2022, pp. 88-95en_UK
dc.identifier.issn0019-0578
dc.identifier.urihttps://doi.org/10.1016/j.isatra.2021.04.033
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/16688
dc.language.isoenen_UK
dc.publisherElsevieren_UK
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectJacobian compensatoren_UK
dc.subjectSlider dynamicsen_UK
dc.subjectOptimal sliding mode controlen_UK
dc.subjectQuick-return mechanismen_UK
dc.subjectConstant cutting velocityen_UK
dc.titleOptimal sliding mode control for cutting tasks of quick-return mechanismsen_UK
dc.typeArticleen_UK

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