Optimal sliding mode control for underactuated systems

Mehdi Nikkhah, Hashem Ashrafiuon, Kenneth R. Muske

Research output: Chapter in Book/Report/Conference proceedingConference contribution

31 Citations (Scopus)

Abstract

This paper introduces a novel method based on nonlinear predictive control to design optimal linear surfaces for sliding model control of underactuated nonlinear systems. The time-invariant parameters of the linear first-order surfaces are selected to achieve some optimal performance objective, such as minimum time or minimum energy. The selection of these surface parameters are subject to constraints that arise from the stability conditions imposed by the sliding mode control law and the physical limits on the system such as control input saturation. The procedure is demonstrated using the inverted pendulum on a cart as an illustrative example.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Pages4688-4693
Number of pages6
Volume2006
StatePublished - 2006
Externally publishedYes
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Other

Other2006 American Control Conference
CountryUnited States
CityMinneapolis, MN
Period6/14/066/16/06

Fingerprint

Sliding mode control
Pendulums
Nonlinear systems

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Nikkhah, M., Ashrafiuon, H., & Muske, K. R. (2006). Optimal sliding mode control for underactuated systems. In Proceedings of the American Control Conference (Vol. 2006, pp. 4688-4693). [1657461]

Optimal sliding mode control for underactuated systems. / Nikkhah, Mehdi; Ashrafiuon, Hashem; Muske, Kenneth R.

Proceedings of the American Control Conference. Vol. 2006 2006. p. 4688-4693 1657461.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nikkhah, M, Ashrafiuon, H & Muske, KR 2006, Optimal sliding mode control for underactuated systems. in Proceedings of the American Control Conference. vol. 2006, 1657461, pp. 4688-4693, 2006 American Control Conference, Minneapolis, MN, United States, 6/14/06.
Nikkhah M, Ashrafiuon H, Muske KR. Optimal sliding mode control for underactuated systems. In Proceedings of the American Control Conference. Vol. 2006. 2006. p. 4688-4693. 1657461
Nikkhah, Mehdi ; Ashrafiuon, Hashem ; Muske, Kenneth R. / Optimal sliding mode control for underactuated systems. Proceedings of the American Control Conference. Vol. 2006 2006. pp. 4688-4693
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