© 2018 IEEE. This paper presents an output-feedback controller for a cart-pole system via sliding-mode algorithms. Due to the fact that this system is underactuated, a coupled sliding surface is employed instead of using a transformation to the regular form. Then, a continuous sliding-mode controller is designed using the super-twisting algorithm so that robustness of the control scheme is guaranteed. Since the proposed controller requires the knowledge of the velocities, a high order sliding-mode observer is introduced to estimate such velocities. All the results are validated by means of simulations, providing also a comparison between the proposed controller, a first-order sliding-mode controller and a chattering attenuation approach.
|Original language||American English|
|State||Published - 12 Apr 2019|
|Event||2018 20th Congreso Mexicano de Robotica, COMRob 2018 - |
Duration: 12 Apr 2019 → …
|Conference||2018 20th Congreso Mexicano de Robotica, COMRob 2018|
|Period||12/04/19 → …|
Ovalle, L., Rios, H., & Llama, M. (2019). A Robust Output-Feedback Control for the Cart-Pole System: A Super-Twisting Sliding-Mode approach. Paper presented at 2018 20th Congreso Mexicano de Robotica, COMRob 2018, . https://doi.org/10.1109/COMROB.2018.8689414