[S] On the Mathematical Background of Sliding Mode-Based Friction Compensation of a Micro-Telemanipulation System

A tétel rövid nézete
dc.contributor.authorKorondi, Péter
dc.contributor.authorFink, Nándor
dc.contributor.authorMikuska, Róbert
dc.contributor.authorSzemes, Péter Tamás
dc.contributor.authorKézi, Csaba
dc.contributor.authorKocsis, Imre
dc.contributor.authorKorondi Péter (1960-) (villamosmérnök)
dc.contributor.authorFink Nándor (2025-) (xxx)
dc.contributor.authorMikuska Róbert (2025-) (xxx)
dc.contributor.authorSzemes Péter Tamás (1976-) (gépészmérnök, villamosmérnök)
dc.contributor.authorKézi Csaba (1983-) (matematikus)
dc.contributor.authorKocsis Imre (1969-) (matematikus, gépészmérnök)
dc.contributor.submitterdepJárműmérnöki és Mechatronikai Intézet -- 4513
dc.contributor.submitterdepVillamosmérnöki és Mechatronikai Tanszék -- 4514
dc.contributor.submitterdepJárműmérnöki Tanszék -- 4515
dc.contributor.submitterdepMűszaki Alaptárgyi Tanszék -- 608
dc.contributor.submitterdepMK
dc.contributor.submitterdepDebreceni Egyetem
dc.date.accessioned2025-01-17T08:45:51Z
dc.date.available2025-01-17T08:45:51Z
dc.date.oa2026-03-23
dc.date.updated2025-01-17T08:45:51Z
dc.description.abstractModeling of various phenomena in engineering work is always a kind of simplification of real processes, aiming at a model where a certain level of mathematical theory and computational procedures is sufficient. If the complexity of the required theory corresponds to the general mathematical competence of engineers, then technical problems can be treated separately in engineering (or physical) models without regard to the mathematical background. However, in some advanced engineering fields, the harmonized development of engineering and mathematical models and toolboxes is necessary to find efficient solutions. For example, modeling variable structure systems in ideal sliding mode requires a mathematical toolbox that goes far beyond general engineering competence through the theory of discontinuous right-hand-side differential equations. Although sliding mode control is popular in practice and the concept of sliding mode allows a significant reduction of model complexity, its exact mathematical description is rarely encountered. The problem of friction compensation of a micro-telemanipulator using sliding mode control demonstrates a harmonized application of the mathematical and engineering approaches. Based on Filippov’s theory, the ideal sliding mode can be discussed. Although an ideal system cannot be implemented in reality, the real systems can be kept close enough to it; therefore, the discussion of the solution of the ideal model is important for practical applications. Although several elements of the topic are available in the literature, in this paper a unique complex approach is given for users of sliding mode control with experimental considerations, different engineering models, and codes. The paper concludes that sliding mode control is a case where engineering and mathematical modeling are inseparable and requires the competence of both fields. © 2024 by the authors.
dc.description.correctorSDB
dc.identifier.citationMathematics. -12 : 20 (2024), p. 3182, p. 1-26. -Mathematics. -2227-7390
dc.identifier.doi10.3390/math12203182
dc.identifier.issn2227-7390
dc.identifier.opachttps://ebib.lib.unideb.hu/ebib/CorvinaWeb?action=cclfind&resultview=long&ccltext=idno+BIBFORM126827
dc.identifier.urihttps://hdl.handle.net/2437/385471
dc.identifier.urlhttps://www.mdpi.com/2227-7390/12/20/3182
dc.languageeng
dc.rights.accessopen acces journal
dc.rights.ownerszerző
dc.subject.otheridegen nyelvű folyóiratközlemény külföldi lapban
dc.subject.othermechatronics
dc.subject.othermicro-telemanipulation
dc.subject.othermodeling
dc.subject.othersliding mode control
dc.title[S] On the Mathematical Background of Sliding Mode-Based Friction Compensation of a Micro-Telemanipulation System
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