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

Abstract : This chapter focuses on the design of a novel nonlinear controller for a class of underactuated system; we would like to introduce a new strategy that addresses an adaptive robust finite-time stabilization lawderived from adding a power integrator (API) technique to a class of single input dynamics described as a normal form system. The idea is to generate coordinate transformations that decouple the underactuated dynamics into an upper-triangular form allowing for only one control input governing the whole system to be designed, whereby a continuous finite-time stabilizing control law is derived from the API technique, and an adaptive compensator is proposed to compensate for the matched and unmatched uncertainties collected throughout the steps of the design. As a consequence, the resulting control law is able to stabilize the underactuated mechanical system in a finite time.
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Submitted on : Tuesday, October 9, 2018 - 5:33:13 PM
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Jawhar Ghommam, Ahmed Chemori, Faiçal Mnif. Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system. The Inverted Pendulum in Control Theory and Robotics: From Theory to New Innovations, Chapter 8, pp.165-187, 2017, 978-1-78561-320-3. ⟨10.1049/PBCE111E_ch8⟩. ⟨lirmm-01891593⟩

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