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.
Sliding mode control of a class of underactuated system with non-integrable momentum
2020-09-01
Journal of the Franklin Institute , 357 (14) pp. 9484-9504. (2020)
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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