{"title":"Sampled data dynamic surface control for inertia wheel pendulum","authors":"N. Mehdi, F. Malik, A. I. Bhatti, N. Qaiser","doi":"10.1109/ICRAI.2012.6413401","DOIUrl":null,"url":null,"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.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"329 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 International Conference of Robotics and Artificial Intelligence","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICRAI.2012.6413401","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
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.
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