Robust Stabilization of a Class of Underactuated Mechanical Systems of 2 DOF via Continuous Higher-Order Sliding-Modes

2020 ◽  
pp. 351-391
Author(s):  
Diego Gutiérrez-Oribio ◽  
Ángel Mercado-Uribe ◽  
Jaime A. Moreno ◽  
Leonid Fridman
Keyword(s):  
Robust Stabilization ◽  
Mechanical Systems ◽  
Higher Order ◽  
Sliding Modes ◽  
Underactuated Mechanical Systems

Adaptive sliding mode control for asymptotic stabilization of underactuated mechanical systems via higher-order nonlinear disturbance observer

2019 ◽  
Vol 25 (17) ◽  
pp. 2340-2350 ◽  
Author(s):  
Kakoli Majumder ◽  
B. M. Patre
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Higher Order ◽  
Adaptive Sliding Mode Control ◽  
Control Input ◽  
Underactuated Mechanical Systems ◽  
Nonlinear Disturbance Observer ◽  
Nonlinear Disturbance

The development of a nonlinear controller of stabilization of underactuated mechanical systems (UMSs) is a challenging endeavor due to a larger number of output variables to be controlled than the control input space. This paper proposes an adaptive sliding mode control based on a higher-order nonlinear disturbance observer (HONDO) for stabilizing the rotational pendulum (RP) system falling under the class of UMSs. Firstly, the HONDO is designed in such a way that it can improve accuracy in estimations with its incremental order. As a result, the proposed controller obtained from the sliding surface which is developed with system’s states and estimations, forces the states attaining the sliding mode and hence keeps them to their origin forever against disturbances. To achieve this, the sliding coefficients are obtained using inertia matrix of the system. The zero dynamics is stabilized by the proposed controller. This alleviates the chattering problem in the control input. Finally, numerical performance on the underactuated RP model is analyzed to show the efficiency of the proposed controller and it is compared with the established control technique found in the literature.

Robust stabilization and disturbance attenuation for a class of underactuated mechanical systems

2012 ◽  
Vol 19 (9) ◽  
pp. 2488-2495 ◽  
Author(s):  
Xu-zhi Lai ◽  
Chang-zhong Pan ◽  
Min Wu ◽  
Jin-hua She ◽  
Simon X. Yang
Keyword(s):  
Robust Stabilization ◽  
Mechanical Systems ◽  
Disturbance Attenuation ◽  
Underactuated Mechanical Systems

Control of a Class of Underactuated Mechanical Systems Using Sliding Modes

2009 ◽  
Vol 25 (2) ◽  
pp. 459-467 ◽  
Author(s):  
V. Sankaranarayanan ◽  
A.D. Mahindrakar
Keyword(s):  
Mechanical Systems ◽  
Sliding Modes ◽  
Underactuated Mechanical Systems

scholarly journals Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

2021 ◽  
pp. 014233122110313
Author(s):  
Afef Hfaiedh ◽  
Ahmed Chemori ◽  
Afef Abdelkrim
Keyword(s):  
Real Time ◽  
Error Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Class I ◽  
Control Input ◽  
Underactuated Mechanical Systems ◽  
Control Scheme ◽  
And Performance

In this paper, the control problem of a class I of underactuated mechanical systems (UMSs) is addressed. The considered class includes nonlinear UMSs with two degrees of freedom and one control input. Firstly, we propose the design of a robust integral of the sign of the error (RISE) control law, adequate for this special class. Based on a change of coordinates, the dynamics is transformed into a strict-feedback (SF) form. A Lyapunov-based technique is then employed to prove the asymptotic stability of the resulting closed-loop system. Numerical simulation results show the robustness and performance of the original RISE toward parametric uncertainties and disturbance rejection. A comparative study with a conventional sliding mode control reveals a significant robustness improvement with the proposed original RISE controller. However, in real-time experiments, the amplification of the measurement noise is a major problem. It has an impact on the behaviour of the motor and reduces the performance of the system. To deal with this issue, we propose to estimate the velocity using the robust Levant differentiator instead of the numerical derivative. Real-time experiments were performed on the testbed of the inertia wheel inverted pendulum to demonstrate the relevance of the proposed observer-based RISE control scheme. The obtained real-time experimental results and the obtained evaluation indices show clearly a better performance of the proposed observer-based RISE approach compared to the sliding mode and the original RISE controllers.

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