In this paper, a sliding mode control scheme is developed to stabilise a class of nonlinear perturbed underactuated system with a non-integral momentum. In this scheme, by initially maintaining a subset of actuated variables on sliding manifolds, the underactuated system with the non-integrable momentum can be approximated by one with the integrable momentum in finite time. During sliding, a subset of the actuated variables converge to zero and a physically meaningful diffeomorphism is systematically calculated to transform the reduced order sliding motion into one in a strict feedback normal form in which the control signals are decoupled from the underactuated subsystem. Furthermore, based on the perturbed strict feedback form, it is possible to find a sliding mode control law to ensure the asymptotic stability of the remaining actuated and unactuated variables. The design efficacy is verified via a multi-link planar robot case study.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Sliding mode control of a class of underactuated system with non-integrable momentum


    Beteiligte:
    Chen, L (Autor:in) / Van, M (Autor:in)

    Erscheinungsdatum :

    01.09.2020


    Anmerkungen:

    Journal of the Franklin Institute , 357 (14) pp. 9484-9504. (2020)


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



    Sliding Mode Stabilizing Control Law of Underactuated Spacecraft

    Kim, S. / Kim, Y. / American Institute of Aeronautics and Astronautics et al. | British Library Conference Proceedings | 2000



    Second-order sliding mode approaches for the control of a class of underactuated systems

    Mahjoub, S. / Mnif, F. a. / Derbel, N. | British Library Online Contents | 2015


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

    Nafa, Fares / Boudouda, Aimad / Smaani, Billel | BASE | 2021

    Freier Zugriff