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

Luis Ovalle; Hector Rios; Miguel Llama

doi:10.1109/COMROB.2018.8689414

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

Luis Ovalle, Hector Rios, Miguel Llama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	2018 20th Congreso Mexicano de Robotica, COMRob 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538692202
DOIs	https://doi.org/10.1109/COMROB.2018.8689414
State	Published - 12 Apr 2019
Externally published	Yes
Event	20th Congreso Mexicano de Robotica, COMRob 2018 - Ensenada, Mexico Duration: 12 Sep 2018 → 14 Sep 2018

Publication series

Name	2018 20th Congreso Mexicano de Robotica, COMRob 2018

Conference

Conference	20th Congreso Mexicano de Robotica, COMRob 2018
Country/Territory	Mexico
City	Ensenada
Period	12/09/18 → 14/09/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Keywords

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

Access to Document

10.1109/COMROB.2018.8689414

Cite this

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

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.",

keywords = "Cart-pole system, Robust control, Sliding-mode control, Sliding-mode observation",

author = "Luis Ovalle and Hector Rios and Miguel Llama",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 20th Congreso Mexicano de Robotica, COMRob 2018 ; Conference date: 12-09-2018 Through 14-09-2018",

year = "2019",

month = apr,

day = "12",

doi = "10.1109/COMROB.2018.8689414",

language = "Ingl{\'e}s",

series = "2018 20th Congreso Mexicano de Robotica, COMRob 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2018 20th Congreso Mexicano de Robotica, COMRob 2018",

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}

Ovalle, L, Rios, H & Llama, M 2019, A Robust Output-Feedback Control for the Cart-Pole System: A Super-Twisting Sliding-Mode approach. in 2018 20th Congreso Mexicano de Robotica, COMRob 2018., 8689414, 2018 20th Congreso Mexicano de Robotica, COMRob 2018, Institute of Electrical and Electronics Engineers Inc., 20th Congreso Mexicano de Robotica, COMRob 2018, Ensenada, Mexico, 12/09/18. https://doi.org/10.1109/COMROB.2018.8689414

A Robust Output-Feedback Control for the Cart-Pole System: A Super-Twisting Sliding-Mode approach. / Ovalle, Luis; Rios, Hector; Llama, Miguel.
2018 20th Congreso Mexicano de Robotica, COMRob 2018. Institute of Electrical and Electronics Engineers Inc., 2019. 8689414 (2018 20th Congreso Mexicano de Robotica, COMRob 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Rios, Hector

AU - Llama, Miguel

PY - 2019/4/12

Y1 - 2019/4/12

N2 - 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.

AB - 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.

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KW - Sliding-mode observation

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PB - Institute of Electrical and Electronics Engineers Inc.

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

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Bibliographical note

Keywords

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