NDLI: Adaptive control for a class of underactuated systems with mismatched uncertainties

Content Provider	IEEE Xplore Digital Library
Author	Huang An-Chyau Chen Yung-Feng
Copyright Year	2010
Description	Author affiliation: Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taiwan (Huang An-Chyau; Chen Yung-Feng)
Abstract	An adaptive multiple-surface sliding controller (AMSSC) based on function approximation techniques (FAT) is proposed for underactuated mechanical systems with disturbances and mismatched uncertainties. The Olfati transformation is applied firstly to represent the system into a special cascade form. Some of the terms in the system dynamic equation represented in the new space might become too complex to derive, they are proposed to be regarded as uncertainties. Most conventional robust or adaptive designs fail to stabilize the closed loop dynamics. We design the AMSSC so that the system mismatched uncertainties can be properly compensated. Experimental results shows that the proposed algorithm is able to give good performance regardless of the uncertainties and time-varying parameters with two cases of an inverted pendulum and a TORA system are presented.
Starting Page	2053
Ending Page	2059
File Size	154749
Page Count	7
File Format	PDF
ISBN	9781424462636
e-ISBN	9787894631046
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-29
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Association of Aut
Subject Keyword	Uncertainty Simulation Rotors FAT Three dimensional displays Trajectory Mechanical systems Vehicle dynamics Underactuated System AMSSC
Content Type	Text
Resource Type	Article

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