A stabilization control of underactuated system using sliding mode differentiator based disturbance observer

Ken Suzuki, Toshiyuki Murakami

Research output: Contribution to journalArticle

Abstract

There are many studies on underactuated systems that control input number is less than output one. That system leads cost reduction and space-saving. Previously, an observer was used widely to control an underactuated system; moreover, time delay occurs because of a low-pass filter. Generally, we use a low-pass filter to obtain the derivative. Recently, Levant suggested a sliding mode differentiator that can estimate the derivative of a input signal, and its time delay is low. Therefore, a new construction of a observer using sliding mode differentiator is proposed, and we investigate how to design the gain of the differentiator. The proposed method was evaluated via a crane experiment. Furthermore, the result showed that the proposed method is effective for controlling an underactuated system.

Original languageEnglish
Pages (from-to)1024-1032+2
Journalieej transactions on industry applications
Volume132
Issue number11
DOIs
Publication statusPublished - 2012 Nov 26

Keywords

  • Overhead crane
  • Sliding mode differentiator
  • Underactuated system
  • Vibration suppression

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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