A novel chattering-free pi sliding mode control for a class of nonlinear underactuated systems. (29th August 2019)

• Record Type: Journal Article
• Authors: Liu, Shuang; Li, Pengwei
• Is Part Of: International journal of modelling, identification and control. Volume 32:Number 1(2019)
• Page Start: 54
• Page End: 59
• Publication Date: 2019-08-29
• Subjects: nonlinear underactuated systems -- PI sliding surfaces -- finite time stable -- bipedal walking robots -- chattering phenomenon; Engineering -- Methodology -- Periodicals; Science -- Methodology -- Periodicals; 001.42
• Languages: English
• ISSNs: 1746-6172

Abstract

For the tracking and stabilisation control problem of nonlinear underactuated systems, a novel chattering-free sliding mode control approach is proposed in this paper. According to Lyapunov theorem of stability, sliding mode can be around the sliding surface in a finite time by the control law. Moreover, the chattering phenomenon caused by the discontinuous control law can be eliminated by the proposed approach. Simulation results for a bipedal walking robot system demonstrate the feasibility and efficiency of the introduced design. Furthermore, it is noteworthy that the developed approach can be widely applied to kinds of underactuated nonlinear control problems.