Stabilization of the cart-pendulum system via quasi-homogeneous switched control

Proceedings of the 2006 International Workshop on Variable Structure Systems, VSS'06

Volumn 2006, Issue , 2006, Pages 139-142

  Riachy, Samer ^a   Floquet, Thierry ^a   Orlov, Yuri ^b   Richard, Jean Pierre ^a  

^a ECOLE CENTRALE DE LILLE   (France)

^b CENTRO DE INVESTIGACIÓN CIENTÍFICA Y DE EDUCACIÓN SUPERIOR DE ENSENADA   (Mexico)

Author keywords

[No Author keywords available]

Indexed keywords

CART PENDULUM SYSTEM; NONLINEAR SYSTEM EQUATIONS; QUASI HOMOGENEOUS SWITCHED CONTROLLERS;

NONLINEAR EQUATIONS; PERTURBATION TECHNIQUES; ROBUSTNESS (CONTROL SYSTEMS); SWITCHING SYSTEMS;

SYSTEM STABILITY;

EID: 33845566464     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/VSS.2006.1644507     Document Type: Conference Paper

References (15)

1. P. Borne, M. Dambrine, W. Perruquetti, J.P. Richard. Vector Lyapunov functions nonlinear, time-varying, ordinary and functional differential equations. In Advances in Stability Theory at the End of the 20th Century, edited by A. A. Martynyuk, Taylor & Francis, 2003.
2. C. Canudas de Wit, H. Olsson, K. J. Åström, and P. Lischinsky. A new model for control of systems with friction. IEEE Transactions on Automatic Control, 40(3), 1995.
3. C. Canudas de Wit and P. Lischinsky. Adaptive friction compensation with partially known dynamic friction model. Int. J. of Adaptive Control and Signal Processing, 11(1), 1997.
4. D. Chatterjeea, A. Patraa, H.K. Joglekarb. Swing-up and stabilization of a cart-pendulum system under restricted cart track length. Systems & Control Letters, 47 (2002) 355-364.
5. L. Fridman, A. Levant. Higher order sliding modes. In Sliding mode control in engineering, W. Perruquetti and J.-P. Barbot (eds.), New York, Marcel Dekker, 53-102, 2002.
6. Lj. Grujić, J.C. Gentina, P. Borne. General aggregation of large-scale systems by vector Lyapunov functions and vector norms. International Journal of Control, 1976, vol.24, No. 4, 529-550.
7. N.N. Krasovskii. Problems of the theory of stability of motion. Moscow: Fizmatgiz, 1959 (in Russian); English translation, Stanford: Stanford University Press, 1963.
8. J.P. LaSalle. Some extensions of Lyapunov's second method. IRE Trans. Circuit Theory, CT-7, 520-527, 1960.
9. A. Levant. Sliding order and sliding accuracy in sliding mode control. Intern. J. Contr., 58, 1247-1263, 1993.
10. A. Levant. Variable measurement step in 2-sliding control. Kybernetica, 36, 77-93, 2000.
11. R. Lozano, I. Fantoni, D. J. Block. Stabilization of the inverted pendulum around its homoclinic orbit. Systems & Control Letters 40 (2000) 197-204.
12. nd Conference on Decision and Control Maui, Hawaii, December 2003.
13. Y. Orlov, L. Aguilar, J.C. Cadiou. Switched chattering control vs. backlash/friction phenomena in electrical servo-motors. International Journal of Control, 2003, vol. 76, 959-967.
14. Q. Wei, W.P. Dayawansa, W.S. Levine. Nonlinear control for an inverted pendulum having restricted travel. Automatica, 31, (1995), 841-850.
15. J. Zhao, M. W. Spong. Hybrid control for global stabilization of the cart pendulum system. Automatica, 37, (2001), 1941-1951.