VSS Control for a Class of Underactuated Systems
نویسنده
چکیده
In this paper we develop a robust controller based on variable structure systems (VSS) control theory for the stabilization of a class of Underactuated Mechanical Systems. This controller is based on a noncollocated partial feedback linearization of the underactuated system with a particular choice of the additional control for which the design is made using the sliding mode approach. Simulation results made on a 2-DOF whirling pendulum are given to illustrate our approach. It is shown that the sliding mode approach can overcome parametric uncertainty problems related to this class of underactuated mechanical systems.
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