A Robust Output-Feedback Control for the Cart-Pole System: A Super-Twisting Sliding-Mode approach

Luis Ovalle, Marcelino Hector Rios Zarzosa, Miguel Llama

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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 languageEnglish
Title of host publication2018 20th Congreso Mexicano de Robotica, COMRob 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538692202
DOIs
StatePublished - 12 Apr 2019
Externally publishedYes
Event20th Congreso Mexicano de Robotica, COMRob 2018 - Ensenada, Mexico
Duration: 12 Sep 201814 Sep 2018

Publication series

Name2018 20th Congreso Mexicano de Robotica, COMRob 2018

Conference

Conference20th Congreso Mexicano de Robotica, COMRob 2018
CountryMexico
CityEnsenada
Period12/09/1814/09/18

Bibliographical note

Funding Information:
Luis Ovalle and Miguel Llama acknowledge the financial support from TECNM research projects. Héctor Ríos gratefully acknowledges the financial support from CONACYT 270504 and TECNM projects.

Keywords

  • Cart-pole system
  • Robust control
  • Sliding-mode control
  • Sliding-mode observation

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