Continuous Sliding-Mode Output-Feedback Control for Stabilization of a Class of Underactuated Systems
| العنوان: | Continuous Sliding-Mode Output-Feedback Control for Stabilization of a Class of Underactuated Systems |
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| المؤلفون: | Hector Rios, Leonid Fridman, Luis Ovalle, Miguel Llama |
| المصدر: | IEEE Transactions on Automatic Control. 67:986-992 |
| بيانات النشر: | Institute of Electrical and Electronics Engineers (IEEE), 2022. |
| سنة النشر: | 2022 |
| مصطلحات موضوعية: | Lyapunov function, Class (set theory), Observer (quantum physics), Underactuation, Computer science, Mode (statistics), Degrees of freedom (mechanics), Computer Science Applications, symbols.namesake, Transformation (function), Control and Systems Engineering, Control theory, symbols, Electrical and Electronic Engineering |
| الوصف: | This paper presents a robust output-feedback control scheme for the stabilization of a class of non-linear underactuated mechanical systems in presence of coupled disturbances. The scheme is based on the so-called coupled sliding-mode control, i.e., no transformation into the normal form is required. The proposed output approach is composed of a Super-Twisting Controller and a High-Order Sliding-Mode Observer that robustly stabilize the origin of the system asymptotically. All of the results are proven by Lyapunov approaches. The proposed approach is validated by means of simulations and experimental results on a 4 degrees of freedom (DOF) underactuated crane. |
| تدمد: | 2334-3303 0018-9286 |
| DOI: | 10.1109/tac.2021.3075179 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_________::9f81864ac9a58680ca41165ce94e0a26 https://doi.org/10.1109/tac.2021.3075179 |
| Rights: | CLOSED |
| رقم الانضمام: | edsair.doi...........9f81864ac9a58680ca41165ce94e0a26 |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 23343303 00189286 |
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| DOI: | 10.1109/tac.2021.3075179 |