Show simple item record

dc.contributor.authorZayane, Chadia
dc.contributor.authorLaleg-Kirati, Taous-Meriem
dc.contributor.authorChemori, Ahmed
dc.date.accessioned2016-11-03T06:57:23Z
dc.date.available2016-11-03T06:57:23Z
dc.date.issued2015-11-05
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.
dc.identifier.doi10.1109/CCA.2015.7320644
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.
dc.description.sponsorshipKAUST, King Abdullah University of Science and Technology
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.titleControl of a perturbed under-actuated mechanical system
dc.typeConference Paper
dc.contributor.departmentComputational Bioscience Research Center (CBRC)
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
dc.contributor.departmentElectrical Engineering Program
dc.identifier.journal2015 IEEE Conference on Control Applications (CCA)
dc.conference.date21 September 2015 through 23 September 2015
dc.conference.nameIEEE Conference on Control and Applications, CCA 2015
dc.contributor.institutionLIRMM, University of Montpellier, CNRS, 161 rue Ada, Montpellier, France
kaust.personZayane, Chadia
kaust.personLaleg-Kirati, Taous-Meriem
dc.date.published-online2015-11-05
dc.date.published-print2015-09


This item appears in the following Collection(s)

Show simple item record