Continuous Sliding-Mode Control for a Class of Underactuated Systems

Luis Ovalle; Hector Rios; Miguel Llama

doi:10.1109/CDC40024.2019.9029778

Continuous Sliding-Mode Control for a Class of Underactuated Systems

Luis Ovalle, Hector Rios, Miguel Llama

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

1 Cita (Scopus)

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 original	Inglés
Título de la publicación alojada	2019 IEEE 58th Conference on Decision and Control, CDC 2019
Editorial	Institute of Electrical and Electronics Engineers Inc.
Páginas	6001-6006
Número de páginas	6
ISBN (versión digital)	9781728113982
DOI	https://doi.org/10.1109/CDC40024.2019.9029778
Estado	Publicada - dic. 2019
Publicado de forma externa	Sí
Evento	58th IEEE Conference on Decision and Control, CDC 2019 - Nice, Francia Duración: 11 dic. 2019 → 13 dic. 2019

Serie de la publicación

Nombre	Proceedings of the IEEE Conference on Decision and Control
Volumen	2019-December
ISSN (versión impresa)	0743-1546
ISSN (versión digital)	2576-2370

Conferencia

Conferencia	58th IEEE Conference on Decision and Control, CDC 2019
País/Territorio	Francia
Ciudad	Nice
Período	11/12/19 → 13/12/19

Nota bibliográfica

Publisher Copyright:
© 2019 IEEE.

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10.1109/CDC40024.2019.9029778

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Ovalle, L., Rios, H., & Llama, M. (2019). Continuous Sliding-Mode Control for a Class of Underactuated Systems. En 2019 IEEE 58th Conference on Decision and Control, CDC 2019 (pp. 6001-6006). Artículo 9029778 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC40024.2019.9029778

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title = "Continuous Sliding-Mode Control for a Class of Underactuated Systems",

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.",

keywords = "Robust Control, Sliding-mode control, Uncertain Systems",

author = "Luis Ovalle and Hector Rios and Miguel Llama",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 58th IEEE Conference on Decision and Control, CDC 2019 ; Conference date: 11-12-2019 Through 13-12-2019",

year = "2019",

month = dec,

doi = "10.1109/CDC40024.2019.9029778",

language = "Ingl{\'e}s",

series = "Proceedings of the IEEE Conference on Decision and Control",

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Ovalle, L, Rios, H & Llama, M 2019, Continuous Sliding-Mode Control for a Class of Underactuated Systems. En 2019 IEEE 58th Conference on Decision and Control, CDC 2019., 9029778, Proceedings of the IEEE Conference on Decision and Control, vol. 2019-December, Institute of Electrical and Electronics Engineers Inc., pp. 6001-6006, 58th IEEE Conference on Decision and Control, CDC 2019, Nice, Francia, 11/12/19. https://doi.org/10.1109/CDC40024.2019.9029778

Continuous Sliding-Mode Control for a Class of Underactuated Systems. / Ovalle, Luis; Rios, Hector; Llama, Miguel.
2019 IEEE 58th Conference on Decision and Control, CDC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 6001-6006 9029778 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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AB - 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.

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Continuous Sliding-Mode Control for a Class of Underactuated Systems

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