Observer-based trajectory tracking for a class of underactuated Lagrangian systems using higher-order sliding modes

Raja Ismail, RMT; Nguyen D., T; Ha, QP

Observer-based trajectory tracking for a class of underactuated Lagrangian systems using higher-order sliding modes

Raja Ismail, RMT Nguyen D., T Ha, QP

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Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Automation Science and Engineering, 2012, pp. 1204 - 1209
Issue Date:: 2012-12-01

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Field	Value	Language
dc.contributor.author	Raja Ismail, RMT	en_US
dc.contributor.author	Nguyen D., T	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2012-12-01	en_US
dc.identifier.citation	IEEE International Conference on Automation Science and Engineering, 2012, pp. 1204 - 1209	en_US
dc.identifier.isbn	9781467304283	en_US
dc.identifier.issn	2161-8070	en_US
dc.identifier.uri	http://hdl.handle.net/10453/30775
dc.description.abstract	Trajectory tracking control of an underactuated mechanical system is a challenging task when tracking errors of all the system coordinates need to be minimized, while the number of control inputs is limited. This paper addresses the observer-based multivariable control of a class of nonlinear, underactuated Lagrangian systems with application to trajectory tracking and sway control of a 3D overhead gantry crane subject to Coulomb friction. A second-order sliding mode observer is proposed for the estimation of velocities. Based on robust estimates, the sliding function of a second-order sliding mode controller for trajectory tracking and anti-swing control is proposed. The simulation results indicate that the proposed observer-based controller can achieve high performance in following a pre-specified trajectory with minimum tracking errors and swing angle suppression, despite the presence of model uncertainties and disturbances. © 2012 IEEE.	en_US
dc.relation.ispartof	IEEE International Conference on Automation Science and Engineering	en_US
dc.relation.isbasedon	10.1109/CoASE.2012.6386400	en_US
dc.title	Observer-based trajectory tracking for a class of underactuated Lagrangian systems using higher-order sliding modes	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Seoul Korea
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:

Trajectory tracking control of an underactuated mechanical system is a challenging task when tracking errors of all the system coordinates need to be minimized, while the number of control inputs is limited. This paper addresses the observer-based multivariable control of a class of nonlinear, underactuated Lagrangian systems with application to trajectory tracking and sway control of a 3D overhead gantry crane subject to Coulomb friction. A second-order sliding mode observer is proposed for the estimation of velocities. Based on robust estimates, the sliding function of a second-order sliding mode controller for trajectory tracking and anti-swing control is proposed. The simulation results indicate that the proposed observer-based controller can achieve high performance in following a pre-specified trajectory with minimum tracking errors and swing angle suppression, despite the presence of model uncertainties and disturbances. © 2012 IEEE.

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http://hdl.handle.net/10453/30775