Robust Output Trajectory Tracking for Uncertain Mechanical Systems: A Continuous Integral Sliding Mode Approach

Juan Eduardo  Velázquez-Velázquez; Rosalba Galvan-Guerra

doi:10.1109/CCE50788.2020.9299203

Robust Output Trajectory Tracking for Uncertain Mechanical Systems: A Continuous Integral Sliding Mode Approach

Juan Eduardo Velázquez-Velázquez, Rosalba Galvan-Guerra

Unidad Profesional Interdisciplinaria de Ingeniería, Campus Hidalgo (UPIIH)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The trajectory tracking based on a linearization approach for mechanical systems by using only output information and considering the presence of matched uncertainties/perturbations is presented. To achieve asymptotic tracking of a given continuous time-varying reference a time-varying continuous integral sliding mode controller is used. This controller guarantees the exact compensation of matched uncertainties/perturbations in finite-Time the states are reconstructed theoretically exactly in finite-Time by using a sliding mode based observer the proposed approach is validated by simulation.

Original language	English
Title of host publication	2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728189871
DOIs	https://doi.org/10.1109/CCE50788.2020.9299203
State	Published - 11 Nov 2020
Event	17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020 - Virtual, Mexico City, Mexico Duration: 11 Nov 2020 → 13 Nov 2020

Publication series

Name	2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020

Conference

Conference	17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020
Country/Territory	Mexico
City	Virtual, Mexico City
Period	11/11/20 → 13/11/20

Keywords

Continuous Sliding Mode
Linear Time-Varying System
Mechanical System
Observer
Trajectory Linearization Control

Access to Document

10.1109/CCE50788.2020.9299203

Cite this

Velázquez-Velázquez, J. E., & Galvan-Guerra, R. (2020). Robust Output Trajectory Tracking for Uncertain Mechanical Systems: A Continuous Integral Sliding Mode Approach. In 2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020 Article 9299203 (2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCE50788.2020.9299203

Velázquez-Velázquez, Juan Eduardo ; Galvan-Guerra, Rosalba. / Robust Output Trajectory Tracking for Uncertain Mechanical Systems : A Continuous Integral Sliding Mode Approach. 2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020. Institute of Electrical and Electronics Engineers Inc., 2020. (2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020).

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abstract = "The trajectory tracking based on a linearization approach for mechanical systems by using only output information and considering the presence of matched uncertainties/perturbations is presented. To achieve asymptotic tracking of a given continuous time-varying reference a time-varying continuous integral sliding mode controller is used. This controller guarantees the exact compensation of matched uncertainties/perturbations in finite-Time the states are reconstructed theoretically exactly in finite-Time by using a sliding mode based observer the proposed approach is validated by simulation.",

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Velázquez-Velázquez, JE & Galvan-Guerra, R 2020, Robust Output Trajectory Tracking for Uncertain Mechanical Systems: A Continuous Integral Sliding Mode Approach. in 2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020., 9299203, 2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020, Institute of Electrical and Electronics Engineers Inc., 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020, Virtual, Mexico City, Mexico, 11/11/20. https://doi.org/10.1109/CCE50788.2020.9299203

Robust Output Trajectory Tracking for Uncertain Mechanical Systems: A Continuous Integral Sliding Mode Approach. / Velázquez-Velázquez, Juan Eduardo ; Galvan-Guerra, Rosalba.
2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020. Institute of Electrical and Electronics Engineers Inc., 2020. 9299203 (2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PY - 2020/11/11

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N2 - The trajectory tracking based on a linearization approach for mechanical systems by using only output information and considering the presence of matched uncertainties/perturbations is presented. To achieve asymptotic tracking of a given continuous time-varying reference a time-varying continuous integral sliding mode controller is used. This controller guarantees the exact compensation of matched uncertainties/perturbations in finite-Time the states are reconstructed theoretically exactly in finite-Time by using a sliding mode based observer the proposed approach is validated by simulation.

AB - The trajectory tracking based on a linearization approach for mechanical systems by using only output information and considering the presence of matched uncertainties/perturbations is presented. To achieve asymptotic tracking of a given continuous time-varying reference a time-varying continuous integral sliding mode controller is used. This controller guarantees the exact compensation of matched uncertainties/perturbations in finite-Time the states are reconstructed theoretically exactly in finite-Time by using a sliding mode based observer the proposed approach is validated by simulation.

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KW - Linear Time-Varying System

KW - Mechanical System

KW - Observer

KW - Trajectory Linearization Control

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Velázquez-Velázquez JE , Galvan-Guerra R. Robust Output Trajectory Tracking for Uncertain Mechanical Systems: A Continuous Integral Sliding Mode Approach. In 2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020. Institute of Electrical and Electronics Engineers Inc. 2020. 9299203. (2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020). doi: 10.1109/CCE50788.2020.9299203

Robust Output Trajectory Tracking for Uncertain Mechanical Systems: A Continuous Integral Sliding Mode Approach

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