Sampled data dynamic surface control for inertia wheel pendulum

Author

Mehdi, Nafaa ; Malik, Fahad Mumtaz ; Bhatti, Aamer Iqbal ; Qaiser, Nauman

Author_Institution

Coll. of Electr. & Mech. Eng., Nat. Univ. of Sci. & Technol., Islamabad, Pakistan

fYear

2012

fDate

22-23 Oct. 2012

Firstpage

91

Lastpage

95

Abstract

We present sampled-data version of dynamic surface control for a benchmark underactuated mechanical system in strict feedback form. Continuous time control law has been discretized in the first place and then applied to control inertia wheel pendulum. Performance comparison has also been made between sampled data and continuous time versions. Simulation results illustrate that sampled data version recovers the performance of continuous time dynamic surface control for reasonably small sampling time.

Keywords

continuous time systems; feedback; nonlinear control systems; pendulums; sampled data systems; wheels; benchmark underactuated mechanical system; continuous time dynamic surface control law; inertia wheel pendulum; sampled data dynamic surface control; strict feedback form; Mathematical model; Mechanical systems; Nonlinear systems; Trajectory; Vehicle dynamics; Wheels; dynamic surface control; inertia wheel pendulum; sampled data control; underactuated mechanical system;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Artificial Intelligence (ICRAI), 2012 International Conference on

Conference_Location

Rawalpindi

Print_ISBN

978-1-4673-4884-3

Type

conf

DOI

10.1109/ICRAI.2012.6413401

Filename

6413401