Continuous Sliding-Mode Control for a Class of Underactuated Systems

被引：0
|
作者：
Ovalle, Luis [1 ]
Rios, Hector [2 ]
Llama, Miguel [1 ]
机构：
[1] Tecnol Nacl Mexico IT La Laguna, Div Estudios Posgrad & Invest, Torreon 27000, Coahuila, Mexico
[2] Tecnol Nacl Mexico IT La Laguna, CONACYT, Div Estudios Posgrad & Invest, Torreon 27000, Coahuila, Mexico
来源：
2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC) | 2019年
关键词：
Sliding-mode control; Robust Control; Uncertain Systems; TRACKING; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：6001 / 6006
页数：6
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