Title :
Stabilization of angular velocity of underactuated rigid body via discontinuous control
Author :
Cheng, Jin ; Wang, Zhonghua ; Zhang, Yong
Author_Institution :
Sch. of Control Sci. & Eng., Univ. of Jinan, Jinan
Abstract :
This paper addresses the control of angular velocity of a rigid body with two actuators. Based on the feedback transformed system, a discontinuous feedback control law is proposed with finite time terminal sliding mode. Numerical simulation is implemented. The results show that the control law can stabilize the system with exponential rate.
Keywords :
feedback; sampled data systems; variable structure systems; velocity control; angular velocity control; angular velocity stabilization; discontinuous feedback control law; feedback transformed system; finite time terminal sliding mode; underactuated rigid body; Angular velocity; Angular velocity control; Discontinuous control; Finite time; Rigid body;
Conference_Titel :
Control and Decision Conference, 2008. CCDC 2008. Chinese
Conference_Location :
Yantai, Shandong
Print_ISBN :
978-1-4244-1733-9
Electronic_ISBN :
978-1-4244-1734-6
DOI :
10.1109/CCDC.2008.4597915
