Passivity-Based Sliding Mode Control for Mechanical Port-Hamiltonian Systems

• 成果类型: Article
• 署名作者: Sakata, Naoki; Fujimoto, Kenji; Maruta, Ichiro
• 署名单位: Kyoto University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3371898
• 发表日期: 2024
• 页码: 5605-5612
• 关键词: Sliding mode control; vectors; Lyapunov methods; Closed loop systems; SYMBOLS; Robustness; Symmetric matrices; Lyapunov method; passivity-based control (PBC); sliding mode control (SMC)

摘要

In this work, we propose a new passivity-based sliding mode control (PBSMC) method for mechanical port-Hamiltonian systems. PBSMC is unification of sliding mode control and passivity-based control. It achieves sliding mode control and Lyapunov stability simultaneously by employing an energy-based Lyapunov function. The proposed method gives a family of stabilizing controllers that smoothly interpolates passivity-based control and sliding mode control with design parameters. The freedom is useful to adjust the tradeoff between robustness against external disturbances and undesired chattering vibration. In addition, this article relaxes the restrictive condition, which is required in the authors' former result. As a result, we can apply the proposed PBSMC method to trajectory tracking control problems. Furthermore, the robustness of the proposed controller against matched and unmatched disturbances is investigated. Numerical examples demonstrate the effectiveness of the proposed method.