Communication Dans Un Congrès Année : 2024

Stabilization of the Cart Pendulum using a Homogeneous Controller

Résumé

This manuscript addresses the problem of stabilization of a cart pendulum using a homogeneous controller. The model of the cart pendulum is composed by a combination of strict-feedback and feedforward parts. The proposed homogeneous controller allows the feedforward nonlinearities to be globally dominated. Emphasizing the simplicity of the controller's design, the methodology relies on solving a system of linear matrix inequalities. Furthermore, a finite-time bound of convergence is evaluated. The effectiveness of the proposed methodology is validated through experimental results on a real cart pendulum.

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Automatique
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Dates et versions

hal-04895361 , version 1 (21-01-2025)

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José Antonio Ortega, Denis Efimov, Andrey Polyakov, Jaime A Moreno, Leonid Fridman. Stabilization of the Cart Pendulum using a Homogeneous Controller. Proc 17th Int. Workshop on Variable Structure Systems and Sliding Mode Control (VSS), Oct 2024, Abu Dhab, United Arab Emirates. pp.170 - 175, ⟨10.1109/vss61690.2024.10753400⟩. ⟨hal-04895361⟩
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