A Robust Output-Feedback Control for the Cart-Pole System: A Super-Twisting Sliding-Mode approach

被引：0
|
作者：
Ovalle, Luis [1 ]
Rios, Hector [2 ]
Llama, Miguel [1 ]
机构：
[1] TECNM, Div Estudios Posgrad & Invest, Inst Tecnol Laguna, Blvd Revoluc & Cuahutemoc S-N, Torreon 27000, Coahulia, Mexico
[2] TECNM, CONACYT, Div Estudios Posgrad & Invest, Inst Tecnol Laguna, Blvd Revoluc & Cuahutemoc S-N, Torreon 27000, Coahulia, Mexico
来源：
2018 XX CONGRESO MEXICANO DE ROBOTICA (COMROB) | 2018年
关键词：
Sliding-mode control; Sliding-mode observation; Robust control; Cart-pole system; STABILIZATION; DIFFERENTIATION;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents an output-feedback controller for a cart-pole system via sliding-mode algorithms. Due to the fact that this system is underactuated, a coupled 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 high order sliding-mode observer is introduced to estimate such velocities. All the results are validated by means of simulations, providing also a comparison between the proposed controller, a first-order sliding-mode controller and a chattering attenuation approach.
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页数：6
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