Integral Sliding Mode Convex Optimization in Uncertain Lagrangian Systems Driven by PMDC Motors: Averaged Subgradient Approach

An uncertain Lagrangian dynamic controlled plant with permanent magnet dc-actuator, governed by a system of ordinary differential equations, is treated. The state variables (generalized coordinates and their velocities) are assumed to be measurable. The controller design is based on sliding mode con...

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Veröffentlicht in:	IEEE transactions on automatic control Jg. 66; H. 9; S. 4267 - 4273
Hauptverfasser:	Poznyak, Alexander S., Nazin, Alexander V., Alazki, Hussain
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.09.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Actuators Algorithms Computational geometry Control systems design Convergence Convex functions Convexity Cost function Differential equations Hysteresis motors IEEE members Mathematical model Optimization Ordinary differential equations Permanent magnets Robot arms sliding mode control torque control Upper bounds
ISSN:	0018-9286, 1558-2523
Online-Zugang:	Volltext
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