A Novel Switching Control Scheme for a Class of Underactuated Mechanical Systems

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Title:	A Novel Switching Control Scheme for a Class of Underactuated Mechanical Systems
Authors:	F.Nafa, S.Labiod , H.Chekireb
Keywords:	underactuated mechanical system Sliding mode control Switching supervisory Overhead Crane
Issue Date:	22-Dec-2013
Series/Report no.:	2011;
Abstract:	In this paper, we present a control law for a class of second order underactuated mechanical systems via a novel switching adaptive scheme. Exploiting the properties of underactuated mechanical systems and the advantages of sliding mode control method, the novel proposed strategy is based on an adaptive switching algorithm to reach the convergence performance for all outputs of the whole system. Based on Lyapunov stability theory, proofs and conditions are then given to ensure the global stability of all states of the system. Relevant application to an Overhead Crane and simulation results show the applicability of the proposed control algorithm
Description:	The International Conference on Electronics & Oil ICEO11 March 1-2 2011
URI:	http://hdl.handle.net/123456789/3535
ISSN:	MO
Appears in Collections:	3. Faculté des sciences appliquées

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