TY - GEN
T1 - Control of a perturbed under-actuated mechanical system
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 -