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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.
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.
SponsorsKAUST, King Abdullah University of Science and Technology
Conference/Event nameIEEE Conference on Control and Applications, CCA 2015