Feng, J;
Gao, S;
Zhao, D;
Yan, X;
Spurgeon, SK;
(2020)
Dynamic output feedback sliding mode control for non-minimum phase systems with application to an inverted pendulum.
In:
IFAC-PapersOnLine.
(pp. pp. 5165-5170).
Elsevier
Preview |
Text
1-s2.0-S2405896320315755-main.pdf - Published Version Download (520kB) | Preview |
Abstract
In this paper, a class of nonlinear systems is considered, where the nominal system representation is allowed to be non-minimum phase. A sliding surface is proposed which is a function of the measured system output and an estimated state. A linear coordinate transformation is introduced so that the stability analysis of the reduced order sliding mode dynamics can be conveniently performed. A robust output feedback sliding mode control (OFSMC) is then designed to drive the system states to the sliding surface in finite time and maintain a sliding motion thereafter. A simulation example is used to demonstrate the effectiveness of the proposed method and the method is successfully applied to an inverted pendulum.
| Type: | Proceedings paper |
|---|---|
| Title: | Dynamic output feedback sliding mode control for non-minimum phase systems with application to an inverted pendulum |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1016/j.ifacol.2020.12.1182 |
| Publisher version: | https://doi.org/10.1016/j.ifacol.2020.12.1182 |
| Language: | English |
| Additional information: | Copyright © 2020 The Authors. This is an open access article under the CC BY-NC-ND license. Peer review under responsibility of International Federation of Automatic Control |
| Keywords: | Sliding mode technique, Non-minimum phase, Dynamical output feedback, Regular form, Inverted pendulum |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10128406 |
Archive Staff Only
 |
View Item |
