Type
Conference PaperKAUST Department
Computational Bioscience Research Center (CBRC)Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
Electrical Engineering Program
Date
2015-11-05Online Publication Date
2015-11-05Print Publication Date
2015-09Permanent link to this record
http://hdl.handle.net/10754/621310
Metadata
Show full item recordAbstract
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.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.Sponsors
KAUST, King Abdullah University of Science and TechnologyPublisher
IEEEConference/Event name
IEEE Conference on Control and Applications, CCA 2015ae974a485f413a2113503eed53cd6c53
10.1109/CCA.2015.7320644