Continuous Sliding-Mode Control for a Class of Underactuated Systems

Luis Ovalle; Hector Rios; Miguel Llama

doi:10.1109/CDC40024.2019.9029778

Continuous Sliding-Mode Control for a Class of Underactuated Systems

Luis Ovalle, Hector Rios, Miguel Llama

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

Abstract

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 language	English
Title of host publication	2019 IEEE 58th Conference on Decision and Control, CDC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6001-6006
Number of pages	6
ISBN (Electronic)	9781728113982
DOIs	https://doi.org/10.1109/CDC40024.2019.9029778
State	Published - Dec 2019
Event	58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France Duration: 11 Dec 2019 → 13 Dec 2019

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2019-December
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	58th IEEE Conference on Decision and Control, CDC 2019
Country/Territory	France
City	Nice
Period	11/12/19 → 13/12/19

Bibliographical note

Funding 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.

Publisher Copyright:
© 2019 IEEE.

Keywords

Robust Control
Sliding-mode control
Uncertain Systems

Access to Document

10.1109/CDC40024.2019.9029778

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Ovalle, L., Rios, H., & Llama, M. (2019). Continuous Sliding-Mode Control for a Class of Underactuated Systems. In 2019 IEEE 58th Conference on Decision and Control, CDC 2019 (pp. 6001-6006). [9029778] (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC40024.2019.9029778

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Ovalle, L, Rios, H & Llama, M 2019, Continuous Sliding-Mode Control for a Class of Underactuated Systems. in 2019 IEEE 58th Conference on Decision and Control, CDC 2019., 9029778, Proceedings of the IEEE Conference on Decision and Control, vol. 2019-December, Institute of Electrical and Electronics Engineers Inc., pp. 6001-6006, 58th IEEE Conference on Decision and Control, CDC 2019, Nice, France, 11/12/19. https://doi.org/10.1109/CDC40024.2019.9029778

Continuous Sliding-Mode Control for a Class of Underactuated Systems. / Ovalle, Luis; Rios, Hector; Llama, Miguel.

2019 IEEE 58th Conference on Decision and Control, CDC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 6001-6006 9029778 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December).

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

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Continuous Sliding-Mode Control for a Class of Underactuated Systems

Abstract

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Bibliographical note

Keywords

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