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 | |
| 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
A sliding mode control applied to whirling pendulum. / Mahjoub, Sonia; Mnif, Faiçal; Derbel, Nabil.
2008 2nd International Conference on Signals, Circuits and Systems, SCS 2008. 2008. 4746910.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
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TY - GEN
T1 - A sliding mode control applied to whirling pendulum
AU - Mahjoub, Sonia
AU - Mnif, Faiçal
AU - Derbel, Nabil
PY - 2008
Y1 - 2008
N2 - 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.
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.
KW - Sliding mode
KW - Underactuated manipulator
KW - VSS
KW - Whirling pendulum
UR - http://www.scopus.com/inward/record.url?scp=62949120786&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=62949120786&partnerID=8YFLogxK
U2 - 10.1109/ICSCS.2008.4746910
DO - 10.1109/ICSCS.2008.4746910
M3 - Conference contribution
AN - SCOPUS:62949120786
SN - 9781424426287
BT - 2008 2nd International Conference on Signals, Circuits and Systems, SCS 2008
ER -