Robust global stabilization of a class of underactuated mechanical systems of two degrees of freedom
Por:
Gutierrez-Oribio, Diego, Mercado-Uribe, Jose A., Moreno, Jaime A., Fridman, Leonid
Publicada:
1 jun 2021
Ahead of Print:
1 sep 2020
Resumen:
In this article, the global stabilization of a class of underactuated
mechanical systems of two degrees of freedom (DoF) is addressed, despite
the presence of Lipschitz disturbances and/or uncertainties and
uncertain control coefficient in the model. Using two second-order
continuous sliding modes algorithms, the control task is performed,
reaching finite-time convergence in one part of the dynamics and
generating a continuous control signal. The efficacy of the proposed
controllers is illustrated via simulations for the reaction wheel
pendulum (RWP) and the translational oscillator with rotational actuator
(TORA) systems, and by means of experiments on the RWP system, comparing
the presented algorithms with a linearizing controller.
Filiaciones:
Gutierrez-Oribio, Diego:
Univ Nacl Autonoma Mexico, Fac Ingn, Dept Control & Robot, Div Ingn Elect, Ciudad De Mexico 04510, Mexico
Mercado-Uribe, Jose A.:
Univ Nacl Autonoma Mexico, Inst Ingn, Elect & Comp, Ciudad De Mexico, Mexico
Moreno, Jaime A.:
Univ Nacl Autonoma Mexico, Inst Ingn, Elect & Comp, Ciudad De Mexico, Mexico
Fridman, Leonid:
Univ Nacl Autonoma Mexico, Fac Ingn, Dept Control & Robot, Div Ingn Elect, Ciudad De Mexico 04510, Mexico
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