Resumen
This brief text proposes a state-dependent gain parameter added to a Fast Terminal Sliding Mode Control in order to restrict the input signal amplitude. The suggested controller involves the following properties: convergence in finite time to the equilibrium point, robustness against bounded persistent state perturbations and uncertainties in the model. In order to exemplify the contributions we exhibit an application to an underactuated rotational inverted pendulum, to stabilize it upwards.
Idioma original | Inglés |
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Título de la publicación alojada | New Perspectives and Applications of Modern Control Theory |
Subtítulo de la publicación alojada | In Honor of Alexander S. Poznyak |
Editorial | Springer International Publishing |
Páginas | 317-333 |
Número de páginas | 17 |
ISBN (versión digital) | 9783319624648 |
ISBN (versión impresa) | 9783319624631 |
DOI | |
Estado | Publicada - 30 sep. 2017 |