Continuous sliding-mode control for underactuated systems: Relative degree one and two

Luis R. Ovalle; Héctor Ríos; Miguel A. Llama

doi:10.1016/j.conengprac.2019.07.014

Continuous sliding-mode control for underactuated systems: Relative degree one and two

Luis R. Ovalle, Héctor Ríos, Miguel A. Llama

Research output: Contribution to journal › Article › peer-review

16 Scopus citations

Abstract

This paper deals with the design of sliding-mode controllers for the stabilization of some types of underactuated systems. The proposed method takes advantage of the mechanical properties of three different types of underactuated systems instead of using nonlinear transformations. In order to design the controller, some sliding variables with relative degree one and two are introduced. The theoretical differences between these approaches are discussed and some simulation results show the practical differences. Experimental results on a cart–pole system are presented to validate the proposed control strategy.

Original language	English
Pages (from-to)	342-357
Number of pages	16
Journal	Control Engineering Practice
Volume	90
DOIs	https://doi.org/10.1016/j.conengprac.2019.07.014
State	Published - Sep 2019

Bibliographical note

Funding Information:
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, Mexico 591548 and 270504 , respectively.

Publisher Copyright:
© 2019 Elsevier Ltd

Keywords

Continuous control
Relative degree
Sliding-mode control
Stabilization
Underactuated systems

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10.1016/j.conengprac.2019.07.014

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abstract = "This paper deals with the design of sliding-mode controllers for the stabilization of some types of underactuated systems. The proposed method takes advantage of the mechanical properties of three different types of underactuated systems instead of using nonlinear transformations. In order to design the controller, some sliding variables with relative degree one and two are introduced. The theoretical differences between these approaches are discussed and some simulation results show the practical differences. Experimental results on a cart–pole system are presented to validate the proposed control strategy.",

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AU - Ríos, Héctor

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AB - This paper deals with the design of sliding-mode controllers for the stabilization of some types of underactuated systems. The proposed method takes advantage of the mechanical properties of three different types of underactuated systems instead of using nonlinear transformations. In order to design the controller, some sliding variables with relative degree one and two are introduced. The theoretical differences between these approaches are discussed and some simulation results show the practical differences. Experimental results on a cart–pole system are presented to validate the proposed control strategy.

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KW - Relative degree

KW - Sliding-mode control

KW - Stabilization

KW - Underactuated systems

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ER -

Continuous sliding-mode control for underactuated systems: Relative degree one and two

Abstract

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Keywords

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