dc.contributor.author | Sætre, Christian Fredrik | |
dc.contributor.author | Shiriaev, Anton | |
dc.contributor.author | Freidovich, Leonid B. | |
dc.contributor.author | Gusev, Sergei V. | |
dc.contributor.author | Fridman, Leonid M. | |
dc.date.accessioned | 2022-09-14T12:35:10Z | |
dc.date.available | 2022-09-14T12:35:10Z | |
dc.date.created | 2021-09-16T09:43:13Z | |
dc.date.issued | 2021 | |
dc.identifier.citation | International Journal of Robust and Nonlinear Control. 2021, 31 (16), 8075-8108. | en_US |
dc.identifier.issn | 1049-8923 | |
dc.identifier.uri | https://hdl.handle.net/11250/3017851 | |
dc.description.abstract | 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. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Wiley | en_US |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.title | Robust orbital stabilization: A Floquet theory–based approach | en_US |
dc.type | Journal article | en_US |
dc.type | Peer reviewed | en_US |
dc.description.version | publishedVersion | en_US |
dc.source.pagenumber | 8075-8108 | en_US |
dc.source.volume | 31 | en_US |
dc.source.journal | International Journal of Robust and Nonlinear Control | en_US |
dc.source.issue | 16 | en_US |
dc.identifier.doi | 10.1002/rnc.5738 | |
dc.identifier.cristin | 1934774 | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |