NDLI: Robust output-feedback control for the cart–pole system: a coupled super-twisting sliding-mode approach

Content Provider	IET Digital Library
Author	Ovalle, Luis Ríos, Héctor Llama, Miguel
Abstract	This study presents an output-feedback controller for a cart–pole system via coupled sliding-mode algorithms. Due to the fact that this system is underactuated, a special type of sliding surface is employed instead of using a transformation to the regular form. Then, a continuous sliding-mode controller is designed using the super-twisting algorithm so that robustness of the control scheme is guaranteed. Since the proposed controller requires the knowledge of the velocities, a homogeneous sliding-mode observer is introduced to estimate such velocities. Then, in order to improve the control effort, a variable gain super-twisting algorithm is also proposed. The closed-loop stability is also guaranteed by means of input-to-state stability properties and Lyapunov function approaches. All the results are validated by means of real-time experiments, providing also a comparison between the proposed controllers and a chattering attenuation approach.
Starting Page	269
Ending Page	278
Page Count	10
ISSN	17518644
Volume Number	13
e-ISSN	17518652
Issue Number	Issue 2, Jan (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/13/2
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.5249
Journal	IET Control Theory & Applications
Publisher Date	2018-12-02
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Cart–pole System Closed Loop System Continuous Sliding-mode Controller Control Effort Control Scheme Control System Analysis Control System Synthesis Control Technology And Theory Coupled Sliding-mode Algorithm Feedback Homogeneous Sliding-mode Observer Lyapunov Function Approach Lyapunov Method Multivariable Control System Nonlinear Control System Observers Output-feedback Controller Regular Form Robust Control Robust Output-feedback Control Sliding-mode Approach Special Type Stability Stability in Control Theory Synthesis Method Variable Gain Super-twisting Algorithm Variable Structure System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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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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