Continuous Sliding-Mode Control for a Class of Underactuated Systems

Luis Ovalle, Marcelino Hector Rios Zarzosa, Miguel Llama

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-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 languageEnglish
Title of host publication2019 IEEE 58th Conference on Decision and Control, CDC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6001-6006
Number of pages6
ISBN (Electronic)9781728113982
DOIs
StatePublished - Dec 2019
Externally publishedYes
Event58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France
Duration: 11 Dec 201913 Dec 2019

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2019-December
ISSN (Print)0743-1546

Conference

Conference58th IEEE Conference on Decision and Control, CDC 2019
CountryFrance
CityNice
Period11/12/1913/12/19

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.

Keywords

  • Robust Control
  • Sliding-mode control
  • Uncertain Systems

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