High-order sliding mode control for solar tracker manipulator

I. Gutierrez, E. Hernandez-Martinez, A. Oropeza, Sajjad Keshtkar

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

1 Cita (Scopus)

Resumen

In this paper, a continuous sliding mode algorithm for a system with relative degree three is presented. The studied mechanism is a class of nonlinear system with electro-mechanical actuators which includes both matched and unmatched bounded perturbations /uncertainties. The proposed homogeneous continuous control algorithm produces a continuous control signal ensuring finite time convergence of the states to the desired trajectory. Moreover, the control signal compensates the bounded perturbation in finite time, i.e. its value converges to the opposite value of the perturbation. The quality of the presented controller is proved via numerical simulations.

Idioma originalInglés
Título de la publicación alojadaMultibody Mechatronic Systems - Proceedings of the MUSME Conference
EditoresDaniel Martins, Henrique Simas, Roberto Simoni, Joao Carlos Mendes Carvalho
EditorialSpringer Netherlands
Páginas235-243
Número de páginas9
ISBN (versión impresa)9783319675664
DOI
EstadoPublicada - 2018
Evento6th International Symposium on Multibody Systems and Mechatronics, MuSMe 2017 - Florianopolis, Brasil
Duración: 24 oct. 201728 oct. 2017

Serie de la publicación

NombreMechanisms and Machine Science
Volumen54
ISSN (versión impresa)2211-0984
ISSN (versión digital)2211-0992

Conferencia

Conferencia6th International Symposium on Multibody Systems and Mechatronics, MuSMe 2017
País/TerritorioBrasil
CiudadFlorianopolis
Período24/10/1728/10/17

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