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- W2577536073 abstract "This paper presents a methodology for controlling nonlinear time-varying minimum-phase underactuated systems affected by matched and unmatched perturbations. The proposed control structure consists of an integral sliding mode control coupled together with a global nonlinear<mml:math xmlns:mml=http://www.w3.org/1998/Math/MathML id=M2><mml:mrow><mml:msub><mml:mrow><mml:mi mathvariant=script>H</mml:mi></mml:mrow><mml:mrow><mml:mi mathvariant=normal>∞</mml:mi></mml:mrow></mml:msub></mml:mrow></mml:math>-control for rejecting vanishing and nonvanishing matched perturbations and for attenuating the unmatched ones, respectively. It is theoretically proven that, using the proposed controller, the origin of the free-disturbance nonlinear system is asymptotically stabilized, while the matched disturbances are rejected whereas the<mml:math xmlns:mml=http://www.w3.org/1998/Math/MathML id=M3><mml:mrow><mml:msub><mml:mrow><mml:mi mathvariant=script>L</mml:mi></mml:mrow><mml:mrow><mml:mn mathvariant=normal>2</mml:mn></mml:mrow></mml:msub></mml:mrow></mml:math>-gain of the corresponding nonlinear system with unmatched perturbation is less than a given disturbance attenuation level<mml:math xmlns:mml=http://www.w3.org/1998/Math/MathML id=M4><mml:mrow><mml:mi>γ</mml:mi></mml:mrow></mml:math>with respect to a given performance output. The capability of the designed controller is verified through a flexible joint robot manipulator typically affected by both classes of external perturbations. In order to assess the performance of the proposed controller, an existing sliding modes controller based on a nonlinear integral-type sliding surface is also implemented. Both controllers are then compared for trajectory tracking tasks. Numerical simulations show that the proposed approach exhibits better performance." @default.
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- W2577536073 date "2017-01-01" @default.
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- W2577536073 title "Integral Sliding Modes with Nonlinear<mml:math xmlns:mml=http://www.w3.org/1998/Math/MathML id=M1><mml:mrow><mml:msub><mml:mrow><mml:mi mathvariant=script>H</mml:mi></mml:mrow><mml:mrow><mml:mi>∞</mml:mi></mml:mrow></mml:msub></mml:mrow></mml:math>-Control for Time-Varying Minimum-Phase Underactuated Systems with Unmatched Disturbances" @default.
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- W2577536073 doi "https://doi.org/10.1155/2017/4876019" @default.
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