The design of robust orbitally stabilizing feedback is considered. From a known orbitally stabilizing controller for a nominal, disturbance-free system, a robustifying feedback extension is designed utilizing the sliding-mode control (SMC) methodology. The main contribution of the article is to provide a constructive procedure for designing the time-invariant switching function used in the SMC synthesis. More specifically, its zero-level set (the sliding manifold) is designed using a real Floquet–Lyapunov transformation to locally correspond to an invariant subspace of the Monodromy matrix of a transverse linearization. This ensures asymptotic stability of the periodic orbit when the system is confined to the sliding manifold, despite any system uncertainties and external disturbances satisfying a matching condition. The challenging task of oscillation control of the underactuated cart–pendulum system subject to both matched- and unmatched disturbances/uncertainties demonstrates the efficacy of the proposed scheme.
Robust orbital stabilization : A Floquet theory-based approach
2021-01-01
Scopus 2-s2.0-85113977209
Article (Journal)
Electronic Resource
English
DDC: | 629 |
Fast Floquet Theory and Trim for Multi-Bladed Rotorcraft
British Library Conference Proceedings | 1995
|Fast floquet theory and trim for multi-bladed rotorcraft
Tema Archive | 1994
|Fast Floquet Theory and Trim for Multi-Bladed Rotorcraft
Online Contents | 1994
|An application of Floquet theory to prediction of mechanical instability
Tema Archive | 1974
|