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SIIA Público
SISTEMA INTEGRAL DE INFORMACIÓN ACADÉMICA - PÚBLICO
Título del libro: Inverted Pendulum In Control Theory And Robotics: From Theory To New Innovations Título del capítulo: Output feedback second-order sliding-mode tracking control for perturbed inertia wheel pendulum
We address 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
positionwhich 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.
