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

被引：20
|
作者：
Ovalle, Luis R. [1 ]
Rios, Hector [2 ]
Llama, Miguel A. [1 ]
机构：
[1] Tecnol Nacl Mexico IT La Laguna, Div Estudios Posgrad & Invest, Blvd Revoluc & Cuauhtemoc S-N, Torreon 27000, Coahuila, Mexico
[2] Tecnol Nacl Mexico IT La Laguna, Div Estudios Posgrad & Invest, CONACYT, Blvd Revoluc & Cuauhtemoc S-N, Torreon 27000, Coahuila, Mexico
来源：
CONTROL ENGINEERING PRACTICE | 2019年 / 90卷
关键词：
Sliding-mode control; Underactuated systems; Stabilization; Continuous control; Relative degree; OUTPUT-FEEDBACK CONTROL; MECHANICAL SYSTEMS; NORMAL FORMS; TRACKING; STABILITY; DESIGN; ORDER;
D O I：
10.1016/j.conengprac.2019.07.014
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：342 / 357
页数：16
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