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.
|Title of host publication||2018 20th Congreso Mexicano de Robotica, COMRob 2018|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|State||Published - 12 Apr 2019|
|Event||20th Congreso Mexicano de Robotica, COMRob 2018 - Ensenada, Mexico|
Duration: 12 Sep 2018 → 14 Sep 2018
|Name||2018 20th Congreso Mexicano de Robotica, COMRob 2018|
|Conference||20th Congreso Mexicano de Robotica, COMRob 2018|
|Period||12/09/18 → 14/09/18|
Bibliographical noteFunding 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.
- Cart-pole system
- Robust control
- Sliding-mode control
- Sliding-mode observation