Sliding mode control of a class of underactuated systems

Automatica

Volumn 44, Issue 1, 2008, Pages 233-241

  Xu, Rong ^a   Özgüner, Ümit ^a  

^a The Ohio State University   (United States)

Author keywords

Sliding mode control; Underactuated

Indexed keywords

CASCADE CONTROL SYSTEMS; CONTROL SYSTEM ANALYSIS; ERROR ANALYSIS; MATHEMATICAL MODELS; SYSTEM STABILITY; UNCERTAINTY ANALYSIS;

CONTROLLER DESIGN; MODEL ERRORS; PARAMETRIC UNCERTAINTIES; UNDERACTUATED SYSTEMS;

SLIDING MODE CONTROL;

EID: 37549051702     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.automatica.2007.05.014     Document Type: Article

References (18)

1. Altug E., Ostrowski J.P., and Mahony R. Control of a quadrotor helicopter using visual feedback. Proceedings of the 2002 IEEE international conference on robotics and automation (2002) 72-77
2. Brockett, R. W. (1983). Asymptotic stability and feedback stabilization. Differential geometric control theory. Boston: Birkhäuser.
3. Brown S.C., and Passino K.M. Intelligent control for an acrobot. Journal of Intelligent and Robotic Systems 18 (1997) 209-248
4. Escorba G., Ortega R., and Sira-Ramirez H. Output feedback global stabilization of a nonlinear benchmark system using a saturated passivity-based controller. IEEE Transaction on Control System Technology 7 2 (1999) 289-293
5. Fierro R., Lewis F.L., and Lowe A. Hybrid control for a class of underactuated mechanical systems. IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans 29 6 (1999) 649-654
6. Jankovic M., Fontaine D., and Kokotovic P.V. TORA example: Cascade- and passivity-based control designs. IEEE Transactions on Control Systems Technology 4 3 (1996) 292-297
7. Jiang Z.P., Hill D.J., and Guo Y. Stabilization and tracking via output feedback for the nonlinear benchmark system. Automatica 34 (1998) 907-915
8. Kanellakopoulos I., Kokotovic P.V., and Morse A.S. Systematic design of adaptive controller for feedback linearizable systems. IEEE Transaction on Automatic Control 36 11 (1991) 1241-1253
9. Kawski M. Stabilization of nonlinear systems in the plane. Systems & Control Letters 12 (1989) 169-175
10. Khalil H.K. Nonlinear systems. third ed. (2002), Prentice-Hall, Englewood Cliffs, NJ
11. Lozano R., Fantoni I., and Block D.J. Stabilization of the inverted pendulum around its homoclinic orbit. System & Control Letter 40 3 (2000) 197-204
12. Olfati-Saber R. Normal forms for underactuated mechanical systems with symmetry. IEEE Transactions on Automatic Control 47 2 (2002) 305-308
13. Olfati-Saber R. Global configuration stabilization for the VTOL aircraft with strong input coupling. IEEE Transactions on Automatic Control 47 11 (2002) 1949-1952
14. Qian C., and Lin W. Non-Lipschitz continuous stabilizers for nonlinear systems with uncontrollable unstable linearization. Systems & Control Letters 42 (2001) 185-200
15. Rui C., Reyhanoglu M., Kolmanovsky I., Cho S., and McClamroch N.H. Nonsmooth stabilization of an underactuated unstable two degrees of freedom mechanical system. Proceedings of the 36th IEEE conference on decision and control (1997) 3998-4003
16. Santag, E. D., 1990. Feedback stabilization of nonlinear systems. Robust control of linear systems and nonlinear control (pp. 61-81). Boston: Birkhäuser.
17. Seto D., and Baillieul J. Control problems in super-articulated mechanical systems. IEEE Transactions on Automatic Control 39 12 (1994) 2442-2453
18. Utkin V.I. Sliding modes in control and optimization (1992), Spinger, New York