{"title":"Discrete-Time Modeling and Control of an Under-actuated Robotic System","authors":"J. Rivera, Luis Garcia, S. Ortega, J. Raygoza","doi":"10.1109/CERMA.2010.120","DOIUrl":null,"url":null,"abstract":"In this work a discrete-time model for the Pendubot is proposed based on the symplectic Euler method. Then, a discrete-time sliding mode controller and observer are designed. A simulation study is carried on in order to verify the good performance of the proposed modeling and control scheme when compared to the case of using explicit Euler method for discrete-time modeling.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"62 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CERMA.2010.120","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 8
Abstract
In this work a discrete-time model for the Pendubot is proposed based on the symplectic Euler method. Then, a discrete-time sliding mode controller and observer are designed. A simulation study is carried on in order to verify the good performance of the proposed modeling and control scheme when compared to the case of using explicit Euler method for discrete-time modeling.
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