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

That, ND; Quang, NK; Thanh, PT; Ha, QP

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

That, ND Quang, NK Thanh, PT Ha, QP

Permalink

Publication Type:: Conference Proceeding
Citation:: 2013 International Conference on Control, Automation and Information Sciences, ICCAIS 2013, 2013, pp. 206 - 211
Issue Date:: 2013-01-01

Closed Access

	Filename	Description	Size
	2012008378OK.pdf		817.19 kB	Adobe PDF	View/Open

Copyright Clearance Process

Recently Added
In Progress
Closed Access

This item is closed access and not available.

Full metadata record

Field	Value	Language
dc.contributor.author	That, ND	en_US
dc.contributor.author	Quang, NK	en_US
dc.contributor.author	Thanh, PT	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2013-01-01	en_US
dc.identifier.citation	2013 International Conference on Control, Automation and Information Sciences, ICCAIS 2013, 2013, pp. 206 - 211	en_US
dc.identifier.isbn	9781479905720	en_US
dc.identifier.uri	http://hdl.handle.net/10453/26732
dc.description.abstract	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.	en_US
dc.relation.ispartof	2013 International Conference on Control, Automation and Information Sciences, ICCAIS 2013	en_US
dc.relation.isbasedon	10.1109/ICCAIS.2013.6720555	en_US
dc.title	Robust exponential stabilization of underactuated mechanical systems in the presence of bounded disturbances using sliding mode control	en_US
dc.type	Conference Proceeding
utslib.for	1099 Other Technology	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
dc.location.activity	Nha Trang, Vietnam	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

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.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/26732