Distributed tracking for mechanical systems using second-order sliding-modes

Author

Davila, Jorge

Author_Institution

Sect. of Grad. Studies & Res., Nat. Polytech. Inst. (IPN), Mexico City, Mexico

fYear

2014

fDate

June 29 2014-July 2 2014

Firstpage

1

Lastpage

6

Abstract

In this paper, the second-order sliding-mode super-twisting controller is modified to provide distributed tracking for mechanical systems. The distributed tracking is ensured by the proposed controller after a finite-time transient. The controller ensures the exact tracking of leader´s position in spite of bounded external disturbances. The corresponding conditions for the distributed tracking and for the simultaneous consensus are studied. The convergence of the tracking error to zero is proven by Lyapunov methods. Simulations show the workability of the proposed method.

Keywords

control system synthesis; distributed control; distributed tracking; multi-robot systems; position control; variable structure systems; vehicles; Lyapunov methods; distributed tracking; finite-time transient; leader position tracking; mechanical systems; multivehicle cooperative control; second-order sliding-mode super-twisting controller; simultaneous consensus; tracking error convergence; Convergence; Laplace equations; Lead; Mechanical systems; Network topology; Topology; Transient analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Variable Structure Systems (VSS), 2014 13th International Workshop on

Conference_Location

Nantes

Type

conf

DOI

10.1109/VSS.2014.6881142

Filename

6881142