Control of a perturbed under-actuated mechanical system

Chadia Zayane; Taous-Meriem Laleg-Kirati; Ahmed Chemori

doi:10.1109/CCA.2015.7320644

Control of a perturbed under-actuated mechanical system

Chadia Zayane, Taous-Meriem Laleg-Kirati, Ahmed Chemori

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Scopus citations

Abstract

In this work, the trajectory tracking problem for an under-actuated mechanical system in presence of unknown input disturbances is addressed. The studied inertia wheel inverted pendulum falls in the class of non minimum phase systems. The proposed high order sliding mode control architecture including a controller and differentiator allows to track accurately the predefined trajectory and to stabilize the internal dynamics. The robustness of the proposed approach is illustrated through different perturbation and output noise configurations.

Original language	English (US)
Title of host publication	2015 IEEE Conference on Control Applications (CCA)
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	294-299
Number of pages	6
ISBN (Print)	9781479977871
DOIs	https://doi.org/10.1109/CCA.2015.7320644
State	Published - Nov 5 2015

Bibliographical note

KAUST Repository Item: Exported on 2020-10-01
Acknowledgements: KAUST, King Abdullah University of Science and Technology

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10.1109/CCA.2015.7320644

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title = "Control of a perturbed under-actuated mechanical system",

abstract = "In this work, the trajectory tracking problem for an under-actuated mechanical system in presence of unknown input disturbances is addressed. The studied inertia wheel inverted pendulum falls in the class of non minimum phase systems. The proposed high order sliding mode control architecture including a controller and differentiator allows to track accurately the predefined trajectory and to stabilize the internal dynamics. The robustness of the proposed approach is illustrated through different perturbation and output noise configurations.",

author = "Chadia Zayane and Taous-Meriem Laleg-Kirati and Ahmed Chemori",

note = "KAUST Repository Item: Exported on 2020-10-01 Acknowledgements: KAUST, King Abdullah University of Science and Technology",

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AU - Zayane, Chadia

AU - Laleg-Kirati, Taous-Meriem

AU - Chemori, Ahmed

N1 - KAUST Repository Item: Exported on 2020-10-01 Acknowledgements: KAUST, King Abdullah University of Science and Technology

PY - 2015/11/5

Y1 - 2015/11/5

N2 - In this work, the trajectory tracking problem for an under-actuated mechanical system in presence of unknown input disturbances is addressed. The studied inertia wheel inverted pendulum falls in the class of non minimum phase systems. The proposed high order sliding mode control architecture including a controller and differentiator allows to track accurately the predefined trajectory and to stabilize the internal dynamics. The robustness of the proposed approach is illustrated through different perturbation and output noise configurations.

AB - In this work, the trajectory tracking problem for an under-actuated mechanical system in presence of unknown input disturbances is addressed. The studied inertia wheel inverted pendulum falls in the class of non minimum phase systems. The proposed high order sliding mode control architecture including a controller and differentiator allows to track accurately the predefined trajectory and to stabilize the internal dynamics. The robustness of the proposed approach is illustrated through different perturbation and output noise configurations.

UR - http://hdl.handle.net/10754/621310

UR - http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=7320644

UR - http://www.scopus.com/inward/record.url?scp=84964320783&partnerID=8YFLogxK

U2 - 10.1109/CCA.2015.7320644

DO - 10.1109/CCA.2015.7320644

M3 - Conference contribution

SN - 9781479977871

SP - 294

EP - 299

BT - 2015 IEEE Conference on Control Applications (CCA)

PB - Institute of Electrical and Electronics Engineers (IEEE)

ER -

Control of a perturbed under-actuated mechanical system

Abstract

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