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.
|Title of host publication||2019 IEEE 58th Conference on Decision and Control, CDC 2019|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|State||Published - Dec 2019|
|Event||58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France|
Duration: 11 Dec 2019 → 13 Dec 2019
|Name||Proceedings of the IEEE Conference on Decision and Control|
|Conference||58th IEEE Conference on Decision and Control, CDC 2019|
|Period||11/12/19 → 13/12/19|
Bibliographical noteFunding Information:
ACKNOWLEDGMENT The authors gratefully acknowledge the financial support from Tecnológico Nacional de México research projects. L. Ovalle and H. Ríos also acknowledge the financial support from CONACYT 591548 and 270504, respectively.
- Robust Control
- Sliding-mode control
- Uncertain Systems