DocumentCode :
3686161
Title :
Control of a perturbed under-actuated mechanical system
Author :
Chadia Zayane-Aissa;Taous-Meriem Laleg-Kirati;Ahmed Chemori
Author_Institution :
Computer, Electrical and Mathematical Sciences and Engineering Division, King Abdullah university of science and technology (KAUST), Kingdom of Saudi Arabia
fYear :
2015
Firstpage :
294
Lastpage :
299
Abstract :
In this work, the trajectory tracking problem for an under-actuated mechanical system in presence of unknown input disturbances is addressed. The studied inertia wheel inverted pendulum falls in the class of non minimum phase systems. The proposed high order sliding mode control architecture including a controller and differentiator allows to track accurately the predefined trajectory and to stabilize the internal dynamics. The robustness of the proposed approach is illustrated through different perturbation and output noise configurations.
Keywords :
"Wheels","Noise measurement","Estimation","Torque","Trajectory","Mechanical systems","Dynamics"
Publisher :
ieee
Conference_Titel :
Control Applications (CCA), 2015 IEEE Conference on
Type :
conf
DOI :
10.1109/CCA.2015.7320644
Filename :
7320644
Link To Document :
بازگشت