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

^*Corresponding author for this work

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

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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title = "A sliding mode control applied to whirling pendulum",

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.",

keywords = "Sliding mode, Underactuated manipulator, VSS, Whirling pendulum",

author = "Sonia Mahjoub and Fai{\c c}al Mnif and Nabil Derbel",

year = "2008",

doi = "10.1109/ICSCS.2008.4746910",

language = "English",

isbn = "9781424426287",

booktitle = "2008 2nd International Conference on Signals, Circuits and Systems, SCS 2008",

note = "2008 2nd International Conference on Signals, Circuits and Systems, SCS 2008 ; Conference date: 07-11-2008 Through 09-11-2008",

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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

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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

T2 - 2008 2nd International Conference on Signals, Circuits and Systems, SCS 2008

Y2 - 7 November 2008 through 9 November 2008

ER -

A sliding mode control applied to whirling pendulum

Abstract

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Keywords

ASJC Scopus subject areas

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