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Output feedback second-order sliding-mode tracking control for perturbed inertia wheel pendulum

Output feedback second-order sliding-mode tracking control for perturbed inertia wheel pendulum

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This paper addresses the robust output feedback tracking control problem for an inertia wheel pendulum in the presence of uniformly bounded matched disturbances. The periodic motion of the pendulum will be at the upright position which corresponds to the unstable equilibrium point of the unforced system. A two-relay-controller-based reference model was developed for generating the desired trajectories to be tracked by the unactuated link of the inertia wheel pendulum and then design an output feedback robust tracking controller. The desired amplitude and frequency were tuned by choosing the two-relay control gains properly. A second-order sliding-mode tracking controller interconnected with a second-order sliding-mode observer was capable to track the prescribed reference trajectory rejecting matched external disturbances. Performance issues of the constructed controller-observer were illustrated in a numerical study.

Chapter Contents:

  • 6.1 Introduction
  • 6.2 Dynamic model and problem statement
  • 6.2.1 Generating desired trajectories centered at the upright equilibrium point
  • 6.3 Observer design
  • 6.4 Control synthesis
  • 6.5 Numerical results
  • 6.6 Conclusions
  • Appendix A
  • A.1 Normal form transformation of the inertia wheel pendulum reference model
  • Acknowledgments
  • References

Inspec keywords: feedback; observers; nonlinear control systems; variable structure systems; robust control

Other keywords: second-order sliding-mode observer; perturbed inertia wheel pendulum; controller-observer; uniformly bounded matched disturbances; output feedback second-order sliding-mode tracking control; robust output feedback tracking control problem; two-relay control gains

Subjects: Nonlinear control systems; Multivariable control systems; Simulation, modelling and identification; Stability in control theory

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