Control of a Perturbed Under-Actuated Mechanical System

Abstract : In this work, the trajectory tracking problem for an under-actuated mechanical system in presence of unknown input disturbances is addressed. The studied inertia wheel inverted pendulum falls in the class of non minimum phase systems. The proposed high order sliding mode control architecture including a controller and differentiator allows to track accurately the predefined trajectory and to stabilize the internal dynamics. The robustness of the proposed approach is illustrated through different perturbation and output noise configurations.
Type de document :
Communication dans un congrès
CCA: Conference on Control Applications, Sep 2015, Sydney, Australia. IEEE Conference on Control Applications, pp.249-299, 2015, 〈10.1109/CCA.2015.7320644〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01343312
Contributeur : Isabelle Gouat <>
Soumis le : vendredi 8 juillet 2016 - 10:49:31
Dernière modification le : vendredi 13 juillet 2018 - 17:02:01

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Chadia Zayane-Aissa, Taous-Meriem Laleg-Kirati, Ahmed Chemori. Control of a Perturbed Under-Actuated Mechanical System. CCA: Conference on Control Applications, Sep 2015, Sydney, Australia. IEEE Conference on Control Applications, pp.249-299, 2015, 〈10.1109/CCA.2015.7320644〉. 〈lirmm-01343312〉

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