Robust Exponential Stabilization of The Pendubot in The Presence of Bounded External Disturbances Using Sliding Mode Control

Publication Type:
Conference Proceeding
IEEE 2013 International Conference on Control, Automation and Information Sciences, 2013, pp. 200 - 205
Issue Date:
Full metadata record
Files in This Item:
Filename Description Size
2012008378OK.pdf817.19 kB
Adobe PDF
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.
Please use this identifier to cite or link to this item: