Robust output-feedback control for the cart–pole system: A coupled super-twisting sliding-mode approach
Por:
Ovalle L., Ríos H., Llama M.
Publicada:
1 ene 2019
Resumen:
This study presents an output-feedback controller for a cart–pole system via coupled sliding-mode algorithms. Due to the fact that this system is underactuated, a special type of sliding surface is employed instead of using a transformation to the regular form. Then, a continuous sliding-mode controller is designed using the super-twisting algorithm so that robustness of the control scheme is guaranteed. Since the proposed controller requires the knowledge of the velocities, a homogeneous sliding-mode observer is introduced to estimate such velocities. Then, in order to improve the control effort, a variable gain super-twisting algorithm is also proposed. The closed-loop stability is also guaranteed by means of input-to-state stability properties and Lyapunov function approaches. All the results are validated by means of real-time experiments, providing also a comparison between the proposed controllers and a chattering attenuation approach. © The Institution of Engineering and Technology 2018.
Filiaciones:
Ovalle L.:
División de Estudios de Posgrado e investigación, Tecnológico Nacional de México/I.T. La Laguna, Blvd. Revolución y Cuauhtémoc S/N, Torreón, Coahulia C.P. 27000, Mexico
Ríos H.:
División de Estudios de Posgrado e investigación, CONACYT-Tecnológico Nacional de México/I.T. La Laguna, Blvd. Revolución y Cuauhtémoc S/N, Torreón, Coahulia C.P. 27000, Mexico
Llama M.:
División de Estudios de Posgrado e investigación, Tecnológico Nacional de México/I.T. La Laguna, Blvd. Revolución y Cuauhtémoc S/N, Torreón, Coahulia C.P. 27000, Mexico
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