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Type: Journal article
Title: Memory output-feedback integral sliding mode control for Furuta pendulum systems
Author: Xu, J.
Nui, Y.
Lim, C.
Shi, P.
Citation: IEEE Transactions on Circuits and Systems I: Regular Papers, 2020; 67(6):2042-2052
Publisher: IEEE
Issue Date: 2020
ISSN: 1549-8328
Statement of
Jing Xu, Yugang Niu, Cheng-Chew Lim and Peng Shi
Abstract: This paper studies the memory output-feedback integral sliding mode control for Furuta pendulum systems subject to unmatched harmonic disturbances and measurement noise. By introducing an artificial time delay, the derivatives of angular positions are approximated via Taylor’s expansion on the integral remainder. On this basis, a novel delay-dependent output-based sliding surface is constructed for state estimation and performance analysis, which inherits the appealing properties of the state-feedback integral sliding surface such as the elimination of reaching phase. Wherein, the artificial delay is regarded as a flexible design parameter ranging between 0 and its upper bound, with the bound determined by solving linear matrix inequalities. As a result, an integral sliding mode controller (ISMC) consisting of a static output-feedback part and a switching part is designed based on the descriptor system representation of the original system to control the pendulum in a noisy environment. Comparative simulation studies with H∞ control, state-feedback ISMC, and high-order ISMC demonstrate the effectiveness of the design method.
Keywords: Sliding mode control; output-feedback; time delay; Furuta pendulum
Rights: © 2020 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See for more information.
RMID: 1000021980
DOI: 10.1109/TCSI.2020.2970090
Appears in Collections:Electrical and Electronic Engineering publications

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