A Robust Output-Feedback Control for the Cart-Pole System: A Super-Twisting Sliding-Mode approach

Luis Ovalle, Hector Rios, Miguel Llama

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

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 originalInglés
Título de la publicación alojada2018 20th Congreso Mexicano de Robotica, COMRob 2018
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781538692202
DOI
EstadoPublicada - 12 abr 2019
Evento20th Congreso Mexicano de Robotica, COMRob 2018 - Ensenada, México
Duración: 12 sep 201814 sep 2018

Serie de la publicación

Nombre2018 20th Congreso Mexicano de Robotica, COMRob 2018

Conferencia

Conferencia20th Congreso Mexicano de Robotica, COMRob 2018
País/TerritorioMéxico
CiudadEnsenada
Período12/09/1814/09/18

Nota bibliográfica

Publisher Copyright:
© 2018 IEEE.

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