Continuous Sliding-Mode Control for a Class of Underactuated Systems

Luis Ovalle, Hector Rios, Miguel Llama

Research output: Contribution to conferencePaper

Abstract

© 2019 IEEE. This paper deals with the design of sliding-mode controllers for the stabilization of a class of underactuated systems. The proposed method takes advantage of the mechanical properties of a class of underactuated systems instead of using nonlinear transformations. In order to design the controller, a series of sliding variables with relative degree one and two are introduced. The theoretical differences between these approaches are discussed and some simulation results show some practical differences.
Original languageAmerican English
Pages6001-6006
Number of pages6
DOIs
StatePublished - 1 Dec 2019
Externally publishedYes
EventProceedings of the IEEE Conference on Decision and Control -
Duration: 1 Dec 2019 → …

Conference

ConferenceProceedings of the IEEE Conference on Decision and Control
Period1/12/19 → …

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  • Cite this

    Ovalle, L., Rios, H., & Llama, M. (2019). Continuous Sliding-Mode Control for a Class of Underactuated Systems. 6001-6006. Paper presented at Proceedings of the IEEE Conference on Decision and Control, . https://doi.org/10.1109/CDC40024.2019.9029778