Continuous Sliding-Mode Output-Feedback Control for Stabilization of a Class of Underactuated Systems

• 成果类型: Article
• 署名作者: Ovalle, Luis; Rios, Hector; Llama, Miguel; Fridman, Leonid
• 署名单位: Universidad Nacional Autonoma de Mexico; Consejo Nacional de Ciencia y Tecnologia (CONACyT)
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3075179
• 发表日期: 2022
• 页码: 986-992
• 关键词: Observers; mechanical systems; MANIFOLDS; uncertainty; Laplace equations; Cranes; system dynamics; output-feedback stabilization; sliding-mode control; underactuated systems

摘要

This article presents a robust output-feedback control scheme for the stabilization of a class of nonlinear underactuated mechanical systems in the presence of coupled disturbances. The scheme is based on the so-called coupled sliding-mode control, i.e., no transformation into the normal form is required. The proposed output approach is composed of a super-twisting controller and a high-order sliding-mode observer that robustly stabilize the origin of the system asymptotically. All of the results are proven by Lyapunov approaches. The proposed approach is validated by means of simulations and experimental results on a four-degree-of-freedom underactuated crane.