Discontinuous output regulation of the Pendubot

Abstract In this work we address the problem of nonlinear output regulation of an underactuated system by means of discontinuous control actions, in particular, the sliding mode output regulator problem in the case of error feedback is considered for the Pendubot system. The theory is revisited for nonlinear systems presented in the so-called Regular form. Simulations are carried out to verify the effectiveness of the discontinuous method.

[1]  Daizhan Cheng,et al.  Theory and experimental results on output regulation for nonlinear systems , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[2]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[3]  Vadim I. Utkin,et al.  Sliding Modes in Control and Optimization , 1992, Communications and Control Engineering Series.

[4]  Alexander G. Loukianov,et al.  On the sliding mode regulator problem , 1999 .

[5]  Bernardino Castillo-Toledo,et al.  Nonlinear regulation of an underactuated system , 1997, Proceedings of International Conference on Robotics and Automation.

[6]  Vadim I. Utkin,et al.  Error Feedback Sliding Mode Regulator Problem , 2004 .

[7]  A. Isidori,et al.  Output regulation of nonlinear systems , 1990 .