TY - GEN
T1 - Hierarchical double integral sliding-mode control for second-order underactuated systems
AU - Chen, Syuan Yi
AU - Gong, Sheng Sian
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/4/28
Y1 - 2014/4/28
N2 - This study presents a hierarchical double integral sliding-mode control (HDISMC) system for a class of second-order underactuated systems. First, the second order underactuated system is divided into two subsystems. Then, two levels double integral sliding surfaces are defined in HDISMC to drive the both subsystems toward the desired dynamics with an invariance property to uncertainties. In HDISMC, the control law is derived using Lyapunov theorem to guarantee the closed-loop stability. Moreover, the designed double integral sliding surface reinforces the control law with integral (I) control feature to eliminate the steady-state error more effectively. Finally, control simulation of an inverted pendulum cart system is given to illustrate the validities of the proposed control system using various operating conditions.
AB - This study presents a hierarchical double integral sliding-mode control (HDISMC) system for a class of second-order underactuated systems. First, the second order underactuated system is divided into two subsystems. Then, two levels double integral sliding surfaces are defined in HDISMC to drive the both subsystems toward the desired dynamics with an invariance property to uncertainties. In HDISMC, the control law is derived using Lyapunov theorem to guarantee the closed-loop stability. Moreover, the designed double integral sliding surface reinforces the control law with integral (I) control feature to eliminate the steady-state error more effectively. Finally, control simulation of an inverted pendulum cart system is given to illustrate the validities of the proposed control system using various operating conditions.
KW - inverted pendulum cart system
KW - second-order underactuated system
KW - sliding-mode control
UR - http://www.scopus.com/inward/record.url?scp=84949928289&partnerID=8YFLogxK
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U2 - 10.1109/CACS.2014.7097183
DO - 10.1109/CACS.2014.7097183
M3 - Conference contribution
AN - SCOPUS:84949928289
T3 - CACS 2014 - 2014 International Automatic Control Conference, Conference Digest
SP - 173
EP - 178
BT - CACS 2014 - 2014 International Automatic Control Conference, Conference Digest
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 International Automatic Control Conference, CACS 2014
Y2 - 26 November 2014 through 28 November 2014
ER -