Continuous Sliding Mode Control Strategy for a Class of Nonlinear Underactuated Systems

被引:142
作者
Lu, Biao [1 ]
Fang, Yongchun [1 ]
Sun, Ning [1 ]
机构
[1] Nankai Univ, Inst Robot & Automat Informat Syst, Tianjin 300353, Peoples R China
基金
中国国家自然科学基金;
关键词
Asymptotic stability; continuous control inputs; disturbance rejection; sliding mode control (SMC); underactuated systems; MECHANICAL SYSTEMS; TRAJECTORY TRACKING; ANTISWING CONTROL; OVERHEAD CRANE; MOTION CONTROL; STABILIZATION; DISTURBANCES; IMMERSION; VEHICLES; DESIGN;
D O I
10.1109/TAC.2018.2794885
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Sliding mode control (SMC), which is known to present strong robustness against various disturbances, has been extensively employed on underactuated systems, whose control problem has been a research focus in recent years. However, though received great attention, the study on SMC for underactuated systems still remains quite open since it is very challenging to construct a proper manifold which can simultaneously stabilize both actuated and unactuated system states. Motivated to promote the corresponding research, we propose an improved second-order SMC (IS-SMC) method for a class of nonlinear underactuated systems in this paper, which guarantees that the closed-loop system's equilibrium point is asymptotically stable even in the presence of unknown nondiminishing disturbances. Different from traditional SMC methods presenting with chattering problem, the control inputs of the proposed method are essentially continuous, which brings much convenience for practical applications. Moreover, for the disturbances which are second-order differentiable, an enhanced IS-SMC (EIS-SMC) method is derived to guarantee the smoothness for both the control inputs and their derivatives. Finally, the proposed approach is applied to a practical underactuated system: The overhead crane system, with sufficient simulation results provided to validate the efficiency of the proposed method.
引用
收藏
页码:3471 / 3478
页数:8
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