Please use this identifier to cite or link to this item: http://hdl.handle.net/11717/11684
Title: Output feedback second-order sliding mode control of the cart on a beam system
Authors: Sankaranarayanan, V .
Mahindrakar, A.D .
Abhilash, P.M.
Keywords: Beam system
Estimated state
Input-output
Nonholonomics
Numerical simulation
Output feedback
Parametric uncertainties
Second order sliding modes
Second-order sliding-mode control
Sliding modes
State Estimators
Switching surfaces
Time controller
Total energy
Underactuated
Computer simulation
Differential equations
Lyapunov functions
Nonlinear systems
Sliding mode control
Uncertainty analysis
Controllers
Issue Date: 2010
Citation: International Journal of Robust and Nonlinear Control, 20(5), 561-570
Abstract: We propose an output feedback second-order sliding mode controller to stabilize the cart on a beam system. A second-order sliding mode controller is designed using a Lyapunov function-based switching surface and finite-time controllers, while the state estimator is designed based on the Luenberger-like observer. The proposed observer extends the applicability of Luenberger-like observer to nonlinear systems that are not input-output linearizable, but can be approximately input-output linearized. The approximation is based on the physical property of the system, wherein certain terms in the total energy are neglected. Extensive numerical simulations validate the robustness of the proposed controller to parametric uncertainties using estimated states. � 2009 John Wiley & Sons, Ltd.
URI: http://dx.doi.org/10.1002/rnc.1449
http://hdl.handle.net/11717/11684
ISSN: 10498923
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