Control of a perturbed under-actuated mechanical system

Handle URI:
http://hdl.handle.net/10754/621310
Title:
Control of a perturbed under-actuated mechanical system
Authors:
Zayane, Chadia ( 0000-0002-3035-3048 ) ; Laleg-Kirati, Taous-Meriem ( 0000-0001-5944-0121 ) ; Chemori, Ahmed
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.
KAUST Department:
Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
Citation:
Zayane-Aissa C, Laleg-Kirati T-M, Chemori A (2015) Control of a perturbed under-actuated mechanical system. 2015 IEEE Conference on Control Applications (CCA). Available: http://dx.doi.org/10.1109/CCA.2015.7320644.
Publisher:
Institute of Electrical & Electronics Engineers (IEEE)
Journal:
2015 IEEE Conference on Control Applications (CCA)
Conference/Event name:
IEEE Conference on Control and Applications, CCA 2015
Issue Date:
5-Nov-2015
DOI:
10.1109/CCA.2015.7320644
Type:
Conference Paper
Sponsors:
KAUST, King Abdullah University of Science and Technology
Appears in Collections:
Conference Papers; Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division

Full metadata record

DC FieldValue Language
dc.contributor.authorZayane, Chadiaen
dc.contributor.authorLaleg-Kirati, Taous-Meriemen
dc.contributor.authorChemori, Ahmeden
dc.date.accessioned2016-11-03T06:57:23Z-
dc.date.available2016-11-03T06:57:23Z-
dc.date.issued2015-11-05en
dc.identifier.citationZayane-Aissa C, Laleg-Kirati T-M, Chemori A (2015) Control of a perturbed under-actuated mechanical system. 2015 IEEE Conference on Control Applications (CCA). Available: http://dx.doi.org/10.1109/CCA.2015.7320644.en
dc.identifier.doi10.1109/CCA.2015.7320644en
dc.identifier.urihttp://hdl.handle.net/10754/621310-
dc.description.abstractIn 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.en
dc.description.sponsorshipKAUST, King Abdullah University of Science and Technologyen
dc.publisherInstitute of Electrical & Electronics Engineers (IEEE)en
dc.titleControl of a perturbed under-actuated mechanical systemen
dc.typeConference Paperen
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Divisionen
dc.identifier.journal2015 IEEE Conference on Control Applications (CCA)en
dc.conference.date21 September 2015 through 23 September 2015en
dc.conference.nameIEEE Conference on Control and Applications, CCA 2015en
dc.contributor.institutionLIRMM, University of Montpellier, CNRS, 161 rue Ada, Montpellier, Franceen
kaust.authorZayane, Chadiaen
kaust.authorLaleg-Kirati, Taous-Meriemen
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