Name
Title | ||
|---|---|---|
Constructive Nonlinear Sliding Mode Surfaces for a Class of Underactuated Systems with Parametric Uncertainties |
Abstract | ||
|---|---|---|
This paper presents a constructive methodology to design sliding mode surfaces for a class of mechanical underactuated systems. The surfaces are designed taking ad- vantage of a fictitious output and the Lyapunov theory. The fictitious output is chosen in such a way that the associated zero dynamics are minimum-phase. The attained nonlinear surface is a combination of the fictitious output and a nonlinear external controller designed using the Lyapunov theory. The technique is developed for a class of mechanical systems with uncertainty in their physical parameters, mainly in the inertial terms. In this class of systems we can find as examples some pendula like the pendulum on a cart and the Inertia Wheel Pendulum, which are analyzed. Simulations show the good performance, namely, time response and parametric robustness, of the controller. I. INTRODUCTION |
Year | Venue | Keywords |
|---|---|---|
2009 | Control Conference | uncertainty,trajectory,mechanical systems,sliding mode control |
DocType | ISBN | Citations |
Conference | 978-3-9524173-9-3 | 0 |
PageRank | References | Authors |
0.34 | 2 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| m lopezmartinez | 1 | 13 | 2.29 |
| J. Á. Acosta | 2 | 140 | 12.93 |
| J. Cano | 3 | 21 | 3.28 |