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

Type de document :

Compte-rendu et recension critique d'ouvrage

DOI :

Titre :

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

Auteur(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]

Titre de la revue :

International Journal of Robust and Nonlinear Control

Pagination :

544-556

Éditeur :

Wiley

Date de publication :

2008

ISSN :

1049-8923

Discipline(s) HAL :

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

Résumé en anglais : [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 ...
Lire la suite >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.Lire moins >

Langue :

Anglais

Vulgarisation :

Non

Collections :