Introduction

This study presents an output-feedback controller for a cart-pole system via coupled sliding-mode algorithms. Due to the fact that this system is underactuated, a special type of sliding surface is employed instead of using a transformation to the regular form. Then, a continuous sliding-mode controller is designed using the super-twisting algorithm so that robustness of the control scheme is guaranteed. Since the proposed controller requires the knowledge of the velocities, a homogeneous slidingmode observer is introduced to estimate such velocities. Then, in order to improve the control effort, a variable gain supertwisting algorithm is also proposed. The closed-loop stability is also guaranteed by means of input-to-state stability properties and Lyapunov function approaches. All the results are validated by means of real-time experiments, providing also a comparison between the proposed controllers and a chattering attenuation approach.

show abstract

Adaptive neural predefined-time hierarchical sliding mode control of switched under-actuated nonlinear systems subject to bouc-wen hysteresis

Liu,

2024

International Journal of Systems Science

View full text Add to dashboard Cite

Introduction

Cited by 3 publications

References 110 publications

Modeling and Control of Rail Type Suspended Conveyor for Electrolytic Aluminum Anode Casting

Modeling and Control of Rail Type Suspended Conveyor for Electrolytic Aluminum Anode Casting

Robust output‐feedback control for the cart–pole system: a coupled super‐twisting sliding‐mode approach

Adaptive neural predefined-time hierarchical sliding mode control of switched under-actuated nonlinear systems subject to bouc-wen hysteresis

Contact Info

Product

Resources

About