Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: Application to the cart-pole system

Jawhar Ghommam; Ahmed Chemori; Faiçal Mnif

doi:10.1049/PBCE111E_ch8

Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: Application to the cart-pole system

Jawhar Ghommam, Ahmed Chemori, Faiçal Mnif

Electrical and Computer Engineering

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

2 Citations (Scopus)

Abstract

Underactuated mechanical systems [13, 14, 27] are those systems with less control inputs than generalized coordinates (called also degrees of freedom), i.e., they have unactuated generalized coordinates. For such systems, the unactuated generalized coordinates may indirectly be controlled by the actuated coordinates through the dynamic coupling, inherent to these systems [8]. This coupling is often nonlinear, resulting in generally nonintegrable dynamic constraints and therefore second-order nonholonomic.

Original language	English
Title of host publication	The Inverted Pendulum in Control Theory and Robotics
Publisher	Institution of Engineering and Technology
Pages	165-190
Number of pages	26
ISBN (Electronic)	9781785613203
DOIs	https://doi.org/10.1049/PBCE111E_ch8
Publication status	Published - Jan 1 2018

Keywords

Cart-pole system
Control system analysis and synthesis methods
Dynamic coupling
Finite-time stabilization
Nonintegrable dynamic constraints
Pole assignment
Stability
Stability in control theory
Unactuated generalized coordinates
Uncertain systems
Underactuated mechanical systems

ASJC Scopus subject areas

General Engineering

Access to Document

10.1049/PBCE111E_ch8

Cite this

Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: Application to the cart-pole system. / Ghommam, Jawhar; Chemori, Ahmed; Mnif, Faiçal.
The Inverted Pendulum in Control Theory and Robotics. Institution of Engineering and Technology, 2018. p. 165-190.

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

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AU - Chemori, Ahmed

AU - Mnif, Faiçal

N1 - Publisher Copyright: © The Institution of Engineering and Technology 2018.

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N2 - Underactuated mechanical systems [13, 14, 27] are those systems with less control inputs than generalized coordinates (called also degrees of freedom), i.e., they have unactuated generalized coordinates. For such systems, the unactuated generalized coordinates may indirectly be controlled by the actuated coordinates through the dynamic coupling, inherent to these systems [8]. This coupling is often nonlinear, resulting in generally nonintegrable dynamic constraints and therefore second-order nonholonomic.

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KW - Stability in control theory

KW - Unactuated generalized coordinates

KW - Uncertain systems

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Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: Application to the cart-pole system

Abstract

Keywords

ASJC Scopus subject areas

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