Second order sliding mode control of underactuacted mechanical systems II: Orbital stabilization of an inverted pendulum with application to swing up / balancing control

Santiesteban, Raul; Floquet, Thierry; Orlov, Yuri; Riachy, Samer; Richard, Jean-Pierre

Document type :

Compte-rendu et recension critique d'ouvrage

DOI :

Title :

Second order sliding mode control of underactuacted mechanical systems II: Orbital stabilization of an inverted pendulum with application to swing up / balancing control

Author(s) :

Santiesteban, Raul [Auteur]
Centro de Investigacion Cientifica y de Education Superior de Ensenada [Mexico] [CICESE]
Floquet, Thierry [Auteur]

Algebra for Digital Identification and Estimation [ALIEN]
Systèmes Non Linéaires et à Retards [SyNeR]
Orlov, Yuri [Auteur]
Centro de Investigacion Cientifica y de Education Superior de Ensenada [Mexico] [CICESE]
Riachy, Samer [Auteur]
Laboratoire d'Automatique, Génie Informatique et Signal [LAGIS]
Algebra for Digital Identification and Estimation [ALIEN]
Richard, Jean-Pierre [Auteur]

Algebra for Digital Identification and Estimation [ALIEN]
Systèmes Non Linéaires et à Retards [SyNeR]

Journal title :

International Journal of Robust and Nonlinear Control

Pages :

544-556

Publisher :

Wiley

Publication date :

2008

ISSN :

1049-8923

HAL domain(s) :

Informatique [cs]/Automatique
Informatique [cs]/Robotique [cs.RO]

English abstract : [en]

Orbital stabilization of an underactuated cart-pendulum system is under study. The quasihomogeneous control synthesis is utilized to design a second order sliding mode controller that drives the actuated cart to a periodic ...
Show more >Orbital stabilization of an underactuated cart-pendulum system is under study. The quasihomogeneous control synthesis is utilized to design a second order sliding mode controller that drives the actuated cart to a periodic reference orbit in finite time, while the non-actuated pendulum produces bounded oscillations. A modified Van der Pol oscillator is introduced into the synthesis as an asymptotic generator of the periodic motion. The resulting closed-loop system is capable of moving from one orbit to another by simply changing the parameters of the Van der Pol modification. Performance issues of the proposed synthesis are illustrated in numerical and experimental studies of the swing up/balancing control problem of moving a pendulum, located on an actuated cart, from its stable downward position to the unstable inverted position and stabilizing it about the vertical.Show less >

Language :

Anglais

Popular science :

Non

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