Resumen
This paper presents an output-feedback controller for a cart-pole system via sliding-mode algorithms. Due to the fact that this system is underactuated, a coupled sliding surface is employed instead of using a transformation to the regular form. Then, a continuous sliding-mode controller is designed using the super-twisting algorithm so that robustness of the control scheme is guaranteed. Since the proposed controller requires the knowledge of the velocities, a high order sliding-mode observer is introduced to estimate such velocities. All the results are validated by means of simulations, providing also a comparison between the proposed controller, a first-order sliding-mode controller and a chattering attenuation approach.
Idioma original | Inglés |
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Título de la publicación alojada | 2018 20th Congreso Mexicano de Robotica, COMRob 2018 |
Editorial | Institute of Electrical and Electronics Engineers Inc. |
ISBN (versión digital) | 9781538692202 |
DOI | |
Estado | Publicada - 12 abr. 2019 |
Publicado de forma externa | Sí |
Evento | 20th Congreso Mexicano de Robotica, COMRob 2018 - Ensenada, México Duración: 12 set. 2018 → 14 set. 2018 |
Serie de la publicación
Nombre | 2018 20th Congreso Mexicano de Robotica, COMRob 2018 |
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Conferencia
Conferencia | 20th Congreso Mexicano de Robotica, COMRob 2018 |
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País/Territorio | México |
Ciudad | Ensenada |
Período | 12/09/18 → 14/09/18 |
Nota bibliográfica
Publisher Copyright:© 2018 IEEE.