Continuous Sliding-Mode Control for a Class of Underactuated Systems
Por:
Ovalle L., Rios H., Llama M.
Publicada:
1 ene 2019
Resumen:
This paper deals with the design of sliding-mode controllers for the stabilization of a class of underactuated systems. The proposed method takes advantage of the mechanical properties of a class of underactuated systems instead of using nonlinear transformations. In order to design the controller, a series of sliding variables with relative degree one and two are introduced. The theoretical differences between these approaches are discussed and some simulation results show some practical differences. © 2019 IEEE.
Filiaciones:
Ovalle L.:
Tecnológico Nacional de México/I.T. la Laguna, División de Estudios de Posgrado e Investigación, Torreón, Coahuila, 27000, Mexico
Rios H.:
CONACYT-Tecnológico Nacional de México/I.T. la Laguna, Divisíon de Estudios de Posgrado e Investigacion, Torreón, Coahuila, 27000, Mexico
Llama M.:
Tecnológico Nacional de México/I.T. la Laguna, División de Estudios de Posgrado e Investigación, Torreón, Coahuila, 27000, Mexico
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