Título del libro: The Inverted Pendulum In Control Theory And Robotics
Título del capítulo: Output feedback second-order sliding-mode tracking control for perturbed inertia wheel pendulum
Autores externos:
Idioma:
Año de publicación:
2018
Palabras clave:
Controller-observer; Feedback; Modelling and identification; Multivariable control systems; Nonlinear control systems; Nonlinear control systems; Observers; Output feedback second-order sliding-mode tracking control; Perturbed inertia wheel pendulum; Robust control; Robust output feedback tracking control problem; Second-order sliding-mode observer; Simulation; Stability in control theory; Two-relay control gains; Uniformly bounded matched disturbances; Variable structure systems
Resumen:
This paper addresses the robust output feedback tracking control problem for an inertia wheel pendulum in the presence of uniformly bounded matched disturbances. The periodic motion of the pendulum will be at the upright position which corresponds to the unstable equilibrium point of the unforced system. A two-relay-controller-based reference model was developed for generating the desired trajectories to be tracked by the unactuated link of the inertia wheel pendulum and then design an output feedback robust tracking controller. The desired amplitude and frequency were tuned by choosing the two-relay control gains properly. A second-order sliding-mode tracking controller interconnected with a second-order sliding-mode observer was capable to track the prescribed reference trajectory rejecting matched external disturbances. Performance issues of the constructed controller-observer were illustrated in a numerical study. © The Institution of Engineering and Technology 2018.
Entidades citadas de la UNAM:
ISBN:
9781785613203
Editorial:
Institution of Engineering and Technology Nombre de la publicación:
Output feedback second-order sliding-mode tracking control for perturbed inertia wheel pendulum
Página inicial:
137
Página final:
150
