Decoupling Control of A Class of Underactuated Mechanical Systems Based on Sliding Mode Control

2006 ◽  
Author(s):  
Mun-soo Park ◽  
Dongkyoung Chwa ◽  
Suk-kyo Hong
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Decoupling Control ◽  
Underactuated Mechanical Systems ◽  
Mode Control

scholarly journals ADAPTIVE WAVELETS SLIDING MODE CONTROL FOR A CLASS OF SECOND ORDER UNDERACTUATED MECHANICAL SYSTEMS

2021 ◽  
Vol 61 (2) ◽  
pp. 350-363
Author(s):  
Fares Nafa ◽  
Aimad Boudouda ◽  
Billel Smaani
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Adaptive Controller ◽  
Descent Method ◽  
Second Order ◽  
Gradient Descent Method ◽  
Underactuated Mechanical Systems ◽  
Mode Control

The control of underactuated mechanical systems (UMS) remains an attracting field where researchers can develop their control algorithms. To this date, various linear and nonlinear control techniques using classical and intelligent methods have been published in literature. In this work, an adaptive controller using sliding mode control (SMC) and wavelets network (WN) is proposed for a class of second-order UMS with two degrees of freedom (DOF).This adaptive control strategy takes advantage of both sliding mode control and wavelet properties. In the main result, we consider the case of un-modeled dynamics of the above-mentioned UMS, and we introduce a wavelets network to design an adaptive controller based on the SMC. The update algorithms are directly extracted by using the gradient descent method and conditions are then settled to achieve the required convergence performance.The efficacy of the proposed adaptive approach is demonstrated through an application to the pendubot.

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