Title :
Robust exponential stabilization of underactuated mechanical systems in the presence of bounded disturbances using sliding mode control
Author :
That, Nguyen D. ; Nguyen Khanh Quang ; Pham Tam Thanh ; Ha, Q.P.
Author_Institution :
Fac. of Marine Electr. & Electron. Eng., Vietnam Maritime Univ., Hai Phong, Vietnam
Abstract :
This article addresses the robust exponential stabilization problem of underactuated mechanical systems in the presence of bounded external disturbances using sliding mode control. Based on the Lyapunov method, a sufficient condition for the existence of the smallest possible ball which bounds the reduced-order sliding mode dynamics, is first derived in terms of linear matrix inequality (LMI). A sliding mode controller is then synthesized to guarantee that system state trajectories are exponentially convergent to another ball with a prespecified convergence rate. A case study of the Pendubot is provided to illustrate the effectiveness of the proposed approach.
Keywords :
Lyapunov methods; asymptotic stability; pendulums; reduced order systems; robust control; variable structure systems; Lyapunov method; Pendubot; bounded external disturbances; reduced order sliding mode dynamics; robust exponential stabilization; sliding mode control; system state trajectories; underactuated mechanical systems; Equations; Mathematical model; Mechanical systems; Robustness; Sliding mode control; Symmetric matrices; Vectors; Lyapunov; Pendubot; Robust exponential stabilization; Sliding mode control; bounded disturbance; linear matrix inequaltiy; underactuated mechanical system;
Conference_Titel :
Control, Automation and Information Sciences (ICCAIS), 2013 International Conference on
Conference_Location :
Nha Trang
Print_ISBN :
978-1-4799-0569-0
DOI :
10.1109/ICCAIS.2013.6720555