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

DOI10.1002/RNC.1200zbMATH Open1284.93064OpenAlexW1988989117MaRDI QIDQ5405740FDOQ5405740

Authors:

Publication date: 3 April 2014

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.1200

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zbMATH Keywords

local stabilizationunderactuated mechanical systemssecond-order sliding modesquasihomogeneous control

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Variable structure systems (93B12) Stability of control systems (93D99)

Cites Work

• Sliding order and sliding accuracy in sliding mode control
• Title not available (Why is that?)

Cited In (24)

• Second-order sliding mode control of underactuated mechanical systems. II: Orbital stabilization of an inverted pendulum with application to swing up/balancing control
• Disturbance-tailored super-twisting algorithms: properties and design framework
• Robust global stabilization of a class of underactuated mechanical systems of two degrees of freedom
• Higher order sliding-mode stabilization of inverted cart-pendulum
• Sliding mode control for swing-up and stabilization of the cart-pole underactuated system
• Smooth higher-order sliding mode control of a class of underactuated mechanical systems
• Global sliding mode control of underactuated inertia wheel pendulum systems
• Stabilization of a class of nonlinear underactuated robotic systems through nonsingular fast terminal sliding mode control
• Robust adaptive control Lyapunov‐barrier function for non‐collocated control and safety of underactuated robotic systems
• Decentralized control of a group of homogeneous vehicles in obstructed environment
• Design and implementation of a new sliding mode controller on an underactuated wheeled inverted pendulum
• Title not available (Why is that?)
• Robust nonlinear attitude tracking control of an underactuated spacecraft under saturation and time-varying uncertainties
• Robust stabilization of a class of underactuated mechanical systems of 2 DOF via continuous higher-order sliding-modes
• Output feedback second-order sliding mode control of the cart on a beam system
• Sliding mode control of underactuated multibody systems and its application to shape change control
• Adaptive fixed-time hierarchical sliding mode control for switched under-actuated systems with dead-zone constraints via event-triggered strategy
• Combination of fractional-order, adaptive second order and non-singular terminal sliding mode controls for dynamical systems with uncertainty and under-actuation property
• Uniform ultimate boundedness for underactuated mechanical systems as mismatched uncertainty disappeared
• Second order sliding mode tracking controller for inertia wheel pendulum
• On estimation of the domain of attraction for sliding mode control of underactuated nonlinear systems
• Neuro-adaptive fixed-time non-singular fast terminal sliding mode control design for a class of under-actuated nonlinear systems
• High-order sliding mode control for sensorless trajectory tracking of a PMSM
• A survey of applications of second-order sliding mode control to mechanical systems

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