Optimal Sliding Mode Control for Underactuated Systems.

This paper introduces a novel method based on nonlinear predictive control to design optimal linear surfaces for sliding model control of underactuated nonlinear systems. The time-invariant parameters of the linear first-order surfaces are selected to achieve some optimal performance objective, such as minimum time or minimum energy. The selection of these surface parameters are subject to constraints that arise from the stability conditions imposed by the sliding mode control law and the physical limits on the system such as control input saturation. The procedure is demonstrated using the inverted pendulum on a cart as an illustrative example.

Main Author: Nikkhah, Mehdi.
Other Authors: Ashrafiuon, Hashem.
Language: English
Published: 2006
Online Access: http://ezproxy.villanova.edu/login?url=https://digital.library.villanova.edu/Item/vudl:173900
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dc_source_str_mv Proceedings of the 2006 American Control Conference, June 14-16 2006, 4688-4693.
author Nikkhah, Mehdi.
author_facet_str_mv Nikkhah, Mehdi.
Ashrafiuon, Hashem.
author_or_contributor_facet_str_mv Nikkhah, Mehdi.
Ashrafiuon, Hashem.
author_s Nikkhah, Mehdi.
spellingShingle Nikkhah, Mehdi.
Optimal Sliding Mode Control for Underactuated Systems.
author-letter Nikkhah, Mehdi.
author_sort_str Nikkhah, Mehdi.
author2 Ashrafiuon, Hashem.
author2Str Ashrafiuon, Hashem.
dc_title_str Optimal Sliding Mode Control for Underactuated Systems.
title Optimal Sliding Mode Control for Underactuated Systems.
title_short Optimal Sliding Mode Control for Underactuated Systems.
title_full Optimal Sliding Mode Control for Underactuated Systems.
title_fullStr Optimal Sliding Mode Control for Underactuated Systems.
title_full_unstemmed Optimal Sliding Mode Control for Underactuated Systems.
collection_title_sort_str optimal sliding mode control for underactuated systems.
title_sort optimal sliding mode control for underactuated systems.
description This paper introduces a novel method based on nonlinear predictive control to design optimal linear surfaces for sliding model control of underactuated nonlinear systems. The time-invariant parameters of the linear first-order surfaces are selected to achieve some optimal performance objective, such as minimum time or minimum energy. The selection of these surface parameters are subject to constraints that arise from the stability conditions imposed by the sliding mode control law and the physical limits on the system such as control input saturation. The procedure is demonstrated using the inverted pendulum on a cart as an illustrative example.
publishDate 2006
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dc.title Optimal Sliding Mode Control for Underactuated Systems.
dc.creator Nikkhah, Mehdi.
Ashrafiuon, Hashem.
dc.description This paper introduces a novel method based on nonlinear predictive control to design optimal linear surfaces for sliding model control of underactuated nonlinear systems. The time-invariant parameters of the linear first-order surfaces are selected to achieve some optimal performance objective, such as minimum time or minimum energy. The selection of these surface parameters are subject to constraints that arise from the stability conditions imposed by the sliding mode control law and the physical limits on the system such as control input saturation. The procedure is demonstrated using the inverted pendulum on a cart as an illustrative example.
dc.date 2006
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dc.source Proceedings of the 2006 American Control Conference, June 14-16 2006, 4688-4693.
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