Sampled Data Dynamic Surface Control for Inertia Wheel Pendulum

Niaz Mehdi; Fahad Mumtaz Malik; Aamir Iqbal Bhatti; Nadeem Qaiser; IEEE

doi:10.1109/ICRAI.2012.6413401

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Conference proceeding

Sampled Data Dynamic Surface Control for Inertia Wheel Pendulum

Niaz Mehdi, Fahad Mumtaz Malik, Aamir Iqbal Bhatti, Nadeem Qaiser and IEEE

2012 INTERNATIONAL CONFERENCE ON ROBOTICS AND ARTIFICIAL INTELLIGENCE (ICRAI), pp.91-95

International Conference on Robotics and Artificial Intelligence

01/01/2012

DOI: https://doi.org/10.1109/ICRAI.2012.6413401

Abstract

Computer Science

Computer Science, Artificial Intelligence

Robotics

Science & Technology

Technology

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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Details

Title: Sampled Data Dynamic Surface Control for Inertia Wheel Pendulum
Creators - without role: Niaz Mehdi - Natl Univ Sci & Technol, Coll Elect & Mech Engn, Islamabad, Pakistan
Fahad Mumtaz Malik - Natl Univ Sci & Technol, Coll Elect & Mech Engn, Islamabad, Pakistan
Aamir Iqbal Bhatti - Muhammad Ali Jinnah Univ, Dept Elect Engn, Rawalpindi, Pakistan
Nadeem Qaiser - Natl Engn & Sci Commiss Islamabad, Islamabad, Pakistan
IEEE
Publication Details: 2012 INTERNATIONAL CONFERENCE ON ROBOTICS AND ARTIFICIAL INTELLIGENCE (ICRAI), pp.91-95
Series: International Conference on Robotics and Artificial Intelligence
Publisher: IEEE
Number of pages: 5
Identifiers: 9945636908331
Academic Unit: King Abdullah University of Science & Technology
Language: English
Resource Type: Conference proceeding