Distributed tracking for mechanical systems using second-order sliding-modes

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

In this paper, the second-order sliding-mode super-twisting controller is modified to provide distributed tracking for mechanical systems. The distributed tracking is ensured by the proposed controller after a finite-time transient. The controller ensures the exact tracking of leader's position in spite of bounded external disturbances. The corresponding conditions for the distributed tracking and for the simultaneous consensus are studied. The convergence of the tracking error to zero is proven by Lyapunov methods. Simulations show the workability of the proposed method. © 2014 IEEE.
Original languageAmerican English
DOIs
StatePublished - 1 Jan 2014
EventProceedings of IEEE Workshop on Applications of Computer Vision -
Duration: 1 Jan 2014 → …

Conference

ConferenceProceedings of IEEE Workshop on Applications of Computer Vision
Period1/01/14 → …

Fingerprint

Controllers
Lyapunov methods

Cite this

Dávila, J. (2014). Distributed tracking for mechanical systems using second-order sliding-modes. Paper presented at Proceedings of IEEE Workshop on Applications of Computer Vision, . https://doi.org/10.1109/VSS.2014.6881142
Dávila, Jorge. / Distributed tracking for mechanical systems using second-order sliding-modes. Paper presented at Proceedings of IEEE Workshop on Applications of Computer Vision, .
@conference{625034f7d35a464a8407e5ae066a5c10,
title = "Distributed tracking for mechanical systems using second-order sliding-modes",
abstract = "In this paper, the second-order sliding-mode super-twisting controller is modified to provide distributed tracking for mechanical systems. The distributed tracking is ensured by the proposed controller after a finite-time transient. The controller ensures the exact tracking of leader's position in spite of bounded external disturbances. The corresponding conditions for the distributed tracking and for the simultaneous consensus are studied. The convergence of the tracking error to zero is proven by Lyapunov methods. Simulations show the workability of the proposed method. {\circledC} 2014 IEEE.",
author = "Jorge D{\'a}vila",
year = "2014",
month = "1",
day = "1",
doi = "10.1109/VSS.2014.6881142",
language = "American English",
note = "Proceedings of IEEE Workshop on Applications of Computer Vision ; Conference date: 01-01-2014",

}

Dávila, J 2014, 'Distributed tracking for mechanical systems using second-order sliding-modes', Paper presented at Proceedings of IEEE Workshop on Applications of Computer Vision, 1/01/14. https://doi.org/10.1109/VSS.2014.6881142

Distributed tracking for mechanical systems using second-order sliding-modes. / Dávila, Jorge.

2014. Paper presented at Proceedings of IEEE Workshop on Applications of Computer Vision, .

Research output: Contribution to conferencePaper

TY - CONF

T1 - Distributed tracking for mechanical systems using second-order sliding-modes

AU - Dávila, Jorge

PY - 2014/1/1

Y1 - 2014/1/1

N2 - In this paper, the second-order sliding-mode super-twisting controller is modified to provide distributed tracking for mechanical systems. The distributed tracking is ensured by the proposed controller after a finite-time transient. The controller ensures the exact tracking of leader's position in spite of bounded external disturbances. The corresponding conditions for the distributed tracking and for the simultaneous consensus are studied. The convergence of the tracking error to zero is proven by Lyapunov methods. Simulations show the workability of the proposed method. © 2014 IEEE.

AB - In this paper, the second-order sliding-mode super-twisting controller is modified to provide distributed tracking for mechanical systems. The distributed tracking is ensured by the proposed controller after a finite-time transient. The controller ensures the exact tracking of leader's position in spite of bounded external disturbances. The corresponding conditions for the distributed tracking and for the simultaneous consensus are studied. The convergence of the tracking error to zero is proven by Lyapunov methods. Simulations show the workability of the proposed method. © 2014 IEEE.

UR - https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84906819079&origin=inward

UR - https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=84906819079&origin=inward

U2 - 10.1109/VSS.2014.6881142

DO - 10.1109/VSS.2014.6881142

M3 - Paper

ER -

Dávila J. Distributed tracking for mechanical systems using second-order sliding-modes. 2014. Paper presented at Proceedings of IEEE Workshop on Applications of Computer Vision, . https://doi.org/10.1109/VSS.2014.6881142