Journal
IEEE LATIN AMERICA TRANSACTIONS
Volume 20, Issue 6, Pages 963-969Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TLA.2022.9757739
Keywords
Gold; Process control; Sliding mode control; Media; Mechanical systems; Gaussian processes; Laser radar; Gaussian process regression; Intelligent control; Inverted pendulum; Sliding modes; Underactuated systems
Funding
- Os autores agradecem ao apoio da Coordenacao de Aperfeicoamento de Pessoal de N'ivel Superior (CAPES) e da Fundacao Alem a de Pesquisa (DFG) [PIPC 88881.473092/2019-1, AU 185/72]
- Wallace M. Bessa agradece ao Conselho Nacional de Desenvolvimento Cient'ifico e Tecnol 'ogico (CNPq) pelo apoio ao projeto de pesquisa [308429/2017-6]
- Gabriel S. Lima agradece `a CAPES por sua bolsa de p 'nto de Pessoal de N'ivel Superior (CAPES) e da Fundacao Alem a de Pesquisa (DFG)
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This work introduces a new control scheme for uncertain underactuated mechanical systems based on sliding mode control and Gaussian process regressor for uncertainty estimation and compensation. Numerical simulations with an inverted pendulum on a cart are used to confirm the improved performance of the proposed control scheme.
This work introduces a new control scheme for uncertain underactuated mechanical systems. The proposed approach is mainly based on sliding mode control, but a Gaussian process regressor is also embedded in the control law for uncertainty estimation and compensation. The convergence properties of the closed-loop signals are analytically proved by means of the Lyapunov stability theory. Numerical simulations with an inverted pendulum on a cart are presented to confirm the improved performance of the proposed control scheme.
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