Continuous Sliding-Mode Control for a Class of Underactuated Systems

Luis Ovalle, Hector Rios, Miguel Llama

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

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2019 IEEE 58th Conference on Decision and Control, CDC 2019
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas6001-6006
Número de páginas6
ISBN (versión digital)9781728113982
DOI
EstadoPublicada - dic 2019
Evento58th IEEE Conference on Decision and Control, CDC 2019 - Nice, Francia
Duración: 11 dic 201913 dic 2019

Serie de la publicación

NombreProceedings of the IEEE Conference on Decision and Control
Volumen2019-December
ISSN (versión impresa)0743-1546

Conferencia

Conferencia58th IEEE Conference on Decision and Control, CDC 2019
País/TerritorioFrancia
CiudadNice
Período11/12/1913/12/19

Nota bibliográfica

Publisher Copyright:
© 2019 IEEE.

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