A sliding mode control applied to whirling pendulum

Sonia Mahjoub, Faiçal Mnif, Nabil Derbel

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2008 2nd International Conference on Signals, Circuits and Systems, SCS 2008
DOIs
Publication statusPublished - 2008
Event2008 2nd International Conference on Signals, Circuits and Systems, SCS 2008 - Nabeul, Tunisia
Duration: Nov 7 2008Nov 9 2008

Other

Other2008 2nd International Conference on Signals, Circuits and Systems, SCS 2008
CountryTunisia
CityNabeul
Period11/7/0811/9/08

Keywords

  • Sliding mode
  • Underactuated manipulator
  • VSS
  • Whirling pendulum

ASJC Scopus subject areas

  • Hardware and Architecture
  • Signal Processing
  • Control and Systems Engineering

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  • 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