Abstract

This work presents an approach to solve the output regulation problem for a class of nonlinear discrete-time nonminimum phase perturbed systems. Based on feedback linearization block control technique and discrete-time sliding mode (SM) control, we propose a sliding manifold on which the zero dynamics are stabilized. To enforce the robust SM motion on the designed manifold, a discrete-time super-twisting SM algorithm is implemented. The effectiveness of the proposed methodology is verified via the design of a position tracking controller for an under-actuated robotic system, the Pendubot.

Full Text
Paper version not known

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.