Constructive nonlinear sliding mode surfaces for a class of underactuated systems with parametric uncertainties

Author

Lopez-Martinez, M. ; Acosta, J.A. ; Cano, J.M.

Author_Institution

Dept. de Ing. de Sist. y Aut., Esc. Tec. Super. de Ing., Univ. de Sevilla, Sevilla, Spain

fYear

2009

fDate

23-26 Aug. 2009

Firstpage

2140

Lastpage

2145

Abstract

This paper presents a constructive methodology to design sliding mode surfaces for a class of underactuated mechanical systems. The surfaces are designed taking advantage of a fictitious output and the Lyapunov theory. The fictitious output is chosen in such a way that the system is minimum-phase. The technique is developed for a class of underactuated mechanical systems with uncertainty in their physical parameters, mainly in the inertial terms. Two examples in the class, the pendulum on a cart and the inertia wheel pendulum are thoroughly analyzed. Simulations show the good performance, namely, time response and parametric robustness, of the controller.

Keywords

Lyapunov methods; control system synthesis; nonlinear control systems; pendulums; robust control; uncertain systems; variable structure systems; Lyapunov theory; cart; constructive nonlinear sliding mode surfaces; fictitious output; inertia wheel pendulum; parametric robustness; parametric uncertainties; physical parameters; sliding mode surface design; time response; underactuated mechanical systems; Equations; Lyapunov methods; Mechanical systems; Sliding mode control; Trajectory; Uncertainty; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2009 European

Conference_Location

Budapest

Print_ISBN

978-3-9524173-9-3

Type

conf

Filename

7074721