Flores-Campos, Juan AlejandroPerrusquía, AdolfoHernández-Gómez, Luis HéctorGonzález, NoéArmenta-Molina, Alejandra2021-05-212021-05-212021-04-15Flores-Campos JA, Perrusquía A, Gómez LH, et al., (2021) Constant speed control of slider-crank mechanisms: a joint-task space hybrid control approach. IEEE Access, Volume 9, 2021, pp. 65676-656872169-3536https://doi.org/10.1109/ACCESS.2021.3073364https://dspace.lib.cranfield.ac.uk/handle/1826/16712In this paper, a constant speed control of slider-crank mechanisms for machine tools is proposed. A joint-task space hybrid controller based on a second-order sliding mode control and time-base generator was used to guarantee a constant speed trajectory tracking and a complete turn of the mechanism crank. A switching criterion was implemented in order to avoid the singularities located at the two extreme positions of the slider stroke. A trapezoidal speed profile with parabolic blends was designed directly over task space slider trajectory considering a constant cutting speed, the workpiece dimensions and the slider stroke length. Stability of the second-order sliding mode control was validated with the Lyapunov stability theory. Simulations were carried out to verify this approach.enAttribution 4.0 Internationalhttp://creativecommons.org/licenses/by/4.0/switching criterionconstant cutting speedtime-based generatorsliding mode controlsingularity pointsSlider-crank mechanismArticle