An Experimental Comparison of Sliding Mode and Immersion and Invariance Adaptive Controllers forPosition-feedback Tracking of a Simple Mechanical System with Friction

TL;DR

This paper experimentally compares sliding mode and immersion-invariance adaptive controllers for position tracking in a mechanical system with friction, providing practical insights into their relative performance.

Contribution

It presents an experimental comparison of two adaptive control methods on a simple mechanical system with friction, highlighting their effectiveness in real-world scenarios.

Findings

Sliding mode control shows robust performance with friction.

Immersion and invariance control offers smooth tracking.

Experimental results clarify the strengths and limitations of each method.

Abstract

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.