Second-order sliding mode control of underactuated mechanical systems I: Local stabilization with application to an inverted pendulum

International Journal of Robust and Nonlinear Control

Volumn 18, Issue 4-5, 2008, Pages 529-543

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

^a INRIA   (France)

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

Author keywords

Local stabilization; Quasihomogeneous control; Second order sliding modes; Underactuated mechanical systems

Indexed keywords

ASYMPTOTIC ANALYSIS; CLOSED LOOP SYSTEMS; INVERSE PROBLEMS; PENDULUMS; UNCERTAINTY ANALYSIS;

LOCAL STABILIZATION; QUASIHOMOGENEOUS CONTROL; SECOND ORDER SLIDING MODES; UNDERACTUATED MECHANICAL SYSTEMS;

SLIDING MODE CONTROL;

EID: 39849096172     PISSN: 10498923     EISSN: 10991239     Source Type: Journal    
DOI: 10.1002/rnc.1200     Document Type: Article

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