Chatter alleviation for a class of second-order under-actuated mechanical systems with matched and mismatched disturbances. (February 2017)

• Record Type: Journal Article
• Authors: Shi, Jinjin; Wang, Jinxiang; Fu, Fangfa
• Is Part Of: Journal of vibration and control. Volume 23:Number 3(2017)
• Page Start: 458
• Page End: 468
• Publication Date: 2017-02
• Subjects: Sliding mode control -- chatter alleviation -- robustness -- hierarchical sliding surfaces -- under-actuated system; Vibration -- Periodicals; Damping (Mechanics) -- Periodicals; 620.3
• DOI: 10.1177/1077546315578340
• Languages: English
• ISSNs: 1077-5463

Abstract

The chattering phenomenon and a system with both matched and mismatched disturbances are the major difficulties in sliding mode control design. This paper presents an effective design procedure to alleviate these two difficulties for a class of second-order under-actuated mechanical systems. In the proposed design, new hierarchical sliding surfaces are designed and a modified disturbance observer is utilized to estimate the lumped disturbance which is a linear combination of the matched and mismatched disturbances. The chatter in control input is filtered out by an integrator, which acts as a low-pass filter. The asymptotic stabilities of the entire sliding surfaces are guaranteed. A design study considering lateral control of a vehicle with matched and mismatched disturbances demonstrates the effectiveness of the proposed design.