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Hybrid Sliding Mode Control for a Set of Interconnected Nonlinear

Giacomini, L. and Bordbar, B. and Holding, D.J. (2000) Hybrid Sliding Mode Control for a Set of Interconnected Nonlinear. In: Proceedings of the 39th IEEE Conference on Decision and Control. IEEE Conference on Decision and Control - Proceedings . IEEE, Sydney Convention and Exhibition Centre, pp. 2180-2185. ISBN 0-7803-6638-7. (doi:10.1109/CDC.2000.914118) (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided)

The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided. (Contact us about this Publication)
Official URL
http://dx.doi.org/10.1109/CDC.2000.914118

Abstract

Reports the use of sliding mode control in the design of a hybrid controller for a distributed system comprising a pair of loosely-coupled inverted pendulums. A sliding mode controller is designed to independently drive each pendulum mechanism to provide stabilization and profiled motion control. Then, to accomplish a reschedulable sequence of tasks, a supervisory system is developed using compositional methods and is modelled and analysed using controlled Petri nets. It is shown that using an appropriate coordination strategy it is possible to achieve a stability envelope for the composite system which is greater than that of the individual components.

Item Type: Book section
DOI/Identification number: 10.1109/CDC.2000.914118
Subjects: Q Science > QA Mathematics (inc Computing science) > QA 76 Software, computer programming,
Divisions: Faculties > Sciences > School of Computing > Systems Architecture Group
Faculties > Sciences > School of Computing > Theoretical Computing Group
Depositing User: Mark Wheadon
Date Deposited: 27 Oct 2009 13:55 UTC
Last Modified: 23 Jul 2019 11:19 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/21921 (The current URI for this page, for reference purposes)
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