Journal
ISA TRANSACTIONS
Volume 52, Issue 6, Pages 870-880Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.isatra.2013.07.012
Keywords
Backstepping; Sliding mode; Underactuated system; Cart-Pendulum
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In this paper an integral backstepping sliding mode controller is proposed for controlling underactuated systems. A feedback control law is designed based on backstepping algorithm and a sliding surface is introduced in the final stage of the algorithm. The backstepping algorithm makes the controller immune to matched and mismatched uncertainties and the sliding mode control provides robustness. The proposed controller ensures asymptotic stability. The effectiveness of the proposed controller is compared against a coupled sliding mode controller for swing-up and stabilization of the Cart-Pendulum System. Simulation results show that the proposed integral backstepping sliding mode controller is able to reject both matched and mismatched uncertainties with a chattering free control law, while utilizing less control effort than the sliding mode controller. (C) 2013 ISA. Published by Elsevier Ltd. All rights reserved.
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