NDLI: Finite Time Stability and Quasihomogeneous Control Synthesis of Uncertain Switched Systems with Application to Underactuated Manipulators

Content Provider	IEEE Xplore Digital Library
Author	Orlov, Y.
Copyright Year	2005
Description	Author affiliation: CICESE Research Center P.O.BOX 434944, San Ysidro, CA, 92143-4944, yorlov@cicese.mx (Orlov, Y.)
Abstract	Switched control synthesis is developed for underactuated mechanical systems. In order to locally stabilize an underactuated system around an unstable equilibrium, its output is specified in such a way that the corresponding zero dynamics is locally asymptotically stable. Once such an output has been chosen, the desired stability property of the closed-loop system is provided by applying a quasihomogeneous switched controller, driving the system to the zero dynamics manifold in finite time. Although the present synthesis exhibits an infinite number of switches on a finite time interval, it does not rely on the generation of sliding modes, while providing robustness features similar to those possessed by their sliding mode counterparts. Theoretical results are supported by an application to drive systems with backlash.
Starting Page	4566
Ending Page	4571
File Size	190383
Page Count	6
File Format	PDF
ISBN	0780395670
DOI	10.1109/CDC.2005.1582882
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-12-15
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	IEEE/EUCA
Subject Keyword	Stability Control system synthesis Switched systems Sliding mode control Manipulator dynamics Mechanical systems Control systems DC motors Switches Robustness
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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