Documents disponibles écrits par cet auteur

Orbital stabilization of inverted-pendulum systems via coupled sliding-mode control / Park, Mun-Soo in IEEE transactions on industrial electronics, Vol. 56 N° 9 (Septembre 2009) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3556-3570 Titre : Orbital stabilization of inverted-pendulum systems via coupled sliding-mode control Type de document : texte imprimé Auteurs : Park, Mun-Soo, Auteur ; Chwa, Dongkyoung, Auteur Article en page(s) : pp. 3556-3570 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Inverted-pendulum  systems  Coupled  sliding-mode  control  stabilization Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : In this paper, we propose a coupled sliding-mode control (SMC) method for the periodic orbit generation and the robust exponential orbital stabilization of inverted-pendulum systems. We first design an SMC law to force a coupled sliding surface to be reached in finite time, such that the zero dynamics are generated in the form of a second-order undamped and forced nonlinear differential equation. Through the stability analysis, it is shown that there exist exponentially stable periodic solutions of the resulting zero dynamics (i.e., limit cycles around either the upright or downward equilibrium), even in the presence of the matched disturbance. Second, we design a target orbit stabilization control law by further introducing an auxiliary control law to the designed SMC law. This auxiliary control law utilizes the general integral of the autonomous zero dynamics, which preserves its zero value along the given target orbit, and thus, it can contribute to the exponential stabilization of the general integral. To demonstrate the validity of the proposed method, both the periodic orbit generation and target orbit stabilization control of the cart-pendulum, as an example among inverted-pendulum systems, are performed in numerical simulations. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=4895336 [...] [article] Orbital stabilization of inverted-pendulum systems via coupled sliding-mode control [texte imprimé] / Park, Mun-Soo, Auteur ; Chwa, Dongkyoung, Auteur . - pp. 3556-3570. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3556-3570 Mots-clés : Inverted-pendulum  systems  Coupled  sliding-mode  control  stabilization Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : In this paper, we propose a coupled sliding-mode control (SMC) method for the periodic orbit generation and the robust exponential orbital stabilization of inverted-pendulum systems. We first design an SMC law to force a coupled sliding surface to be reached in finite time, such that the zero dynamics are generated in the form of a second-order undamped and forced nonlinear differential equation. Through the stability analysis, it is shown that there exist exponentially stable periodic solutions of the resulting zero dynamics (i.e., limit cycles around either the upright or downward equilibrium), even in the presence of the matched disturbance. Second, we design a target orbit stabilization control law by further introducing an auxiliary control law to the designed SMC law. This auxiliary control law utilizes the general integral of the autonomous zero dynamics, which preserves its zero value along the given target orbit, and thus, it can contribute to the exponential stabilization of the general integral. To demonstrate the validity of the proposed method, both the periodic orbit generation and target orbit stabilization control of the cart-pendulum, as an example among inverted-pendulum systems, are performed in numerical simulations. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=4895336 [...]

Swing-up and stabilization control of inverted-pendulum systems via coupled sliding-mode control method / Park, Mun-Soo in IEEE transactions on industrial electronics, Vol. 56 N° 9 (Septembre 2009) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3541-3555 Titre : Swing-up and stabilization control of inverted-pendulum systems via coupled sliding-mode control method Type de document : texte imprimé Auteurs : Park, Mun-Soo, Auteur ; Chwa, Dongkyoung, Auteur Article en page(s) : pp. 3541-3555 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Inverted-pendulum  systems  Stabilization  control  Coupled  sliding-mode  control Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : This paper presents a coupled sliding-mode control (SMC) of inverted-pendulum systems. An SMC law is designed to force a coupled sliding surface (which consists of sliding surfaces of both actuated and unactuated subsystems) to be reached in finite time, such that zero dynamics are generated in the form of a second-order damped and forced nonlinear differential equation. The stability analysis is provided to show that the resulting zero dynamics is guaranteed to be semiglobally asymptotically stable over the upper half-plane as well as over the whole plane except the horizon. This property is maintained even in the presence of the matched disturbance by virtue of the sliding-mode approach. Using the semiglobal nature of the stability of the zero dynamics, the aggressive swing-up (in one time, without swinging motion) and stabilization control can be achieved by a single coupled SMC law, without involving the switching (or hybrid) scheme in the previous works. The performance of the proposed method is demonstrated in both numerical simulations and experiments for the swing-up and stabilization control of inverted-pendulum systems such as cart-pendulum and Furuta-pendulum. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=4752767 [...] [article] Swing-up and stabilization control of inverted-pendulum systems via coupled sliding-mode control method [texte imprimé] / Park, Mun-Soo, Auteur ; Chwa, Dongkyoung, Auteur . - pp. 3541-3555. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3541-3555 Mots-clés : Inverted-pendulum  systems  Stabilization  control  Coupled  sliding-mode  control Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : This paper presents a coupled sliding-mode control (SMC) of inverted-pendulum systems. An SMC law is designed to force a coupled sliding surface (which consists of sliding surfaces of both actuated and unactuated subsystems) to be reached in finite time, such that zero dynamics are generated in the form of a second-order damped and forced nonlinear differential equation. The stability analysis is provided to show that the resulting zero dynamics is guaranteed to be semiglobally asymptotically stable over the upper half-plane as well as over the whole plane except the horizon. This property is maintained even in the presence of the matched disturbance by virtue of the sliding-mode approach. Using the semiglobal nature of the stability of the zero dynamics, the aggressive swing-up (in one time, without swinging motion) and stabilization control can be achieved by a single coupled SMC law, without involving the switching (or hybrid) scheme in the previous works. The performance of the proposed method is demonstrated in both numerical simulations and experiments for the swing-up and stabilization control of inverted-pendulum systems such as cart-pendulum and Furuta-pendulum. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=4752767 [...]