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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2601.12545 |
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| _version_ | 1866908774233538560 |
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| author | Cervantes-Pérez, Luis Santibáñez, Víctor Sandoval, Jesús Ortega, Romeo Romero, Jose Guadalupe |
| author_facet | Cervantes-Pérez, Luis Santibáñez, Víctor Sandoval, Jesús Ortega, Romeo Romero, Jose Guadalupe |
| contents | The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in the literature. To put this experimental evidence in perspective, we compare the performance of the sliding mode scheme with the one obtained by an adaptive controller designed following the well-known immersion and invariance technique. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_12545 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | An Experimental Comparison of Sliding Mode and Immersion and Invariance Adaptive Controllers forPosition-feedback Tracking of a Simple Mechanical System with Friction Cervantes-Pérez, Luis Santibáñez, Víctor Sandoval, Jesús Ortega, Romeo Romero, Jose Guadalupe Systems and Control The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in the literature. To put this experimental evidence in perspective, we compare the performance of the sliding mode scheme with the one obtained by an adaptive controller designed following the well-known immersion and invariance technique. |
| title | An Experimental Comparison of Sliding Mode and Immersion and Invariance Adaptive Controllers forPosition-feedback Tracking of a Simple Mechanical System with Friction |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2601.12545 |