A sliding mode control applied to whirling pendulum

Sonia Mahjoub; Faiçal Mnif; Nabil Derbel

doi:10.1109/ICSCS.2008.4746910

A sliding mode control applied to whirling pendulum

Sonia Mahjoub, Faiçal Mnif, Nabil Derbel

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

In this paper, we present a VSS-based tracking control for a fixed point regulation of 2-DOF underactuated manipilators .The design approach is systematic and relies on the selection of appropriate choice of two sliding surface. The controller is designed for the both sliding surfaces are attractive. Lyapunov theory is used to study and demonstrate the stability of the system . Convergence of state space is proved and robustness issues to bounded disturbances are also investigated. Simulation results on 2-DOF whirling pendulum are presented to chow the effectiveness of this approach.

Original language	English
Title of host publication	2008 2nd International Conference on Signals, Circuits and Systems, SCS 2008
DOIs	https://doi.org/10.1109/ICSCS.2008.4746910
Publication status	Published - 2008
Event	2008 2nd International Conference on Signals, Circuits and Systems, SCS 2008 - Nabeul, Tunisia Duration: Nov 7 2008 → Nov 9 2008

Other

Other	2008 2nd International Conference on Signals, Circuits and Systems, SCS 2008
Country	Tunisia
City	Nabeul
Period	11/7/08 → 11/9/08

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Keywords

Sliding mode
Underactuated manipulator
VSS
Whirling pendulum

ASJC Scopus subject areas

Hardware and Architecture
Signal Processing
Control and Systems Engineering

Cite this

Mahjoub, S., Mnif, F., & Derbel, N. (2008). A sliding mode control applied to whirling pendulum. In 2008 2nd International Conference on Signals, Circuits and Systems, SCS 2008 [4746910] https://doi.org/10.1109/ICSCS.2008.4746910

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AB - In this paper, we present a VSS-based tracking control for a fixed point regulation of 2-DOF underactuated manipilators .The design approach is systematic and relies on the selection of appropriate choice of two sliding surface. The controller is designed for the both sliding surfaces are attractive. Lyapunov theory is used to study and demonstrate the stability of the system . Convergence of state space is proved and robustness issues to bounded disturbances are also investigated. Simulation results on 2-DOF whirling pendulum are presented to chow the effectiveness of this approach.

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BT - 2008 2nd International Conference on Signals, Circuits and Systems, SCS 2008

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Access to Document

10.1109/ICSCS.2008.4746910