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

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

Resultado de la investigación: Contribución a una revistaArtículorevisión exhaustiva

14 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Páginas (desde-hasta)342-357
Número de páginas16
PublicaciónControl Engineering Practice
Volumen90
DOI
EstadoPublicada - set. 2019

Nota bibliográfica

Publisher Copyright:
© 2019 Elsevier Ltd

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