Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system - Archive ouverte HAL Access content directly
Book Sections Year : 2017

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

(1) , (2) , (3)
1
2
3

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.
Fichier principal
Vignette du fichier
Proof_Boubaker_Chapter08_Final.pdf (739.46 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

lirmm-01891593 , version 1 (09-10-2018)

Identifiers

Cite

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⟩
99 View
192 Download

Altmetric

Share

Gmail Facebook Twitter LinkedIn More