Please use this identifier to cite or link to this item:
|Title:||Sliding mode controller design for underactuated systems||Authors:||Xu, J.-X.
|Issue Date:||2012||Citation:||Xu, J.-X.,Guo, Z.-Q.,Lee, T.H. (2012). Sliding mode controller design for underactuated systems. Proceedings of IEEE International Workshop on Variable Structure Systems : 385-390. ScholarBank@NUS Repository. https://doi.org/10.1109/VSS.2012.6163533||Abstract:||In this paper we deal with one of the most challenging control problems - controlling a class of underactuated mechanical systems. The control difficulty arises when uncertainties exist in the underactuated system. Sliding mode controller (SMC) design with both linear and nonlinear sliding surface are proposed to deal with uncertainties. Both of the controllers are capable of rejecting matched uncertainties. For linear SMC, selection of sliding surface parameters are discussed and conditions are given to ensure a stable sliding manifold. For integral SMC design, it shows flexibility in designing a nominal controller to stabilize the sliding manifold and selection of sliding surface parameters to reduce the effect of unmatched uncertainties. The SMC with integral type sliding surface not only shows great robustness but also can be easily incorporated with other controllers. As an illustrative example, the proposed controllers are applied to a unicycle plus inverse pendulum system. © 2012 IEEE.||Source Title:||Proceedings of IEEE International Workshop on Variable Structure Systems||URI:||http://scholarbank.nus.edu.sg/handle/10635/71796||ISSN:||21654816||DOI:||10.1109/VSS.2012.6163533|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Apr 13, 2019
checked on Mar 30, 2019
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.