Robust exponential stabilization of underactuated mechanical systems in the presence of bounded disturbances using sliding mode control

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Conference Proceeding
2013 International Conference on Control, Automation and Information Sciences, ICCAIS 2013, 2013, pp. 206 - 211
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This article addresses the robust exponential stabilization problem of underactuated mechanical systems in the presence of bounded external disturbances using sliding mode control. Based on the Lyapunov method, a sufficient condition for the existence of the smallest possible ball which bounds the reduced-order sliding mode dynamics, is first derived in terms of linear matrix inequality (LMI). A sliding mode controller is then synthesized to guarantee that system state trajectories are exponentially convergent to another ball with a prespecified convergence rate. A case study of the Pendubot is provided to illustrate the effectiveness of the proposed approach. © 2013 IEEE.
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