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Robust orbital stab...
Robust orbital stabilization : A Floquet theory-based approach
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- Sætre, Christian Fredrik (author)
- Department of Engineering Cybernetics, NTNU, Trondheim, Norway
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- Shiriaev, Anton S. (author)
- Department of Engineering Cybernetics, NTNU, Trondheim, Norway; Department of Information Technologies and AI, Sirius University of Science and Technology, Sochi, Russian Federation
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- Freidovich, Leonid B., Docent (author)
- Umeå universitet,Institutionen för tillämpad fysik och elektronik,Department of Information Technologies and AI, Sirius University of Science and Technology, Sochi, Russian Federation
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- Gusev, Sergei V. (author)
- Department of Information Technologies and AI, Sirius University of Science and Technology, Sochi, Russian Federation
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- Fridman, Leonid M. (author)
- Department of Information Technologies and AI, Sirius University of Science and Technology, Sochi, Russian Federation; Departamento de Ingeniería de Control y Robótica, Universidad Nacional Autónoma de México, Mexico City, Mexico
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(creator_code:org_t)
- 2021-08-31
- 2021
- English.
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In: International Journal of Robust and Nonlinear Control. - : John Wiley & Sons. - 1049-8923 .- 1099-1239. ; 31:16, s. 8075-8108
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Abstract
Subject headings
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- The design of robust orbitally stabilizing feedback is considered. From a known orbitally stabilizing controller for a nominal, disturbance-free system, a robustifying feedback extension is designed utilizing the sliding-mode control (SMC) methodology. The main contribution of the article is to provide a constructive procedure for designing the time-invariant switching function used in the SMC synthesis. More specifically, its zero-level set (the sliding manifold) is designed using a real Floquet–Lyapunov transformation to locally correspond to an invariant subspace of the Monodromy matrix of a transverse linearization. This ensures asymptotic stability of the periodic orbit when the system is confined to the sliding manifold, despite any system uncertainties and external disturbances satisfying a matching condition. The challenging task of oscillation control of the underactuated cart–pendulum system subject to both matched- and unmatched disturbances/uncertainties demonstrates the efficacy of the proposed scheme.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- orbital stabilization
- robust nonlinear control
- sliding mode control
- underactuated mechanical systems
Publication and Content Type
- ref (subject category)
- art (subject category)
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