Sliding mode control of a class of underactuated system with non-integrable momentum. Issue 14 (September 2020)

• Record Type: Journal Article
• Authors: Chen, Lejun; Van, Mien
• Is Part Of: Journal of the Franklin Institute. Volume 357:Issue 14(2020)
• Page Start: 9484
• Page End: 9504
• Publication Date: 2020-09
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2020.07.022
• Languages: English
• ISSNs: 0016-0032

Abstract

Abstract: In this paper, a sliding mode control scheme is developed to stabilise a class of nonlinear perturbed underactuated system with a non-integral momentum. In this scheme, by initially maintaining a subset of actuated variables on sliding manifolds, the underactuated system with the non-integrable momentum can be approximated by one with the integrable momentum in finite time. During sliding, a subset of the actuated variables converge to zero and a physically meaningful diffeomorphism is systematically calculated to transform the reduced order sliding motion into one in a strict feedback normal form in which the control signals are decoupled from the underactuated subsystem. Furthermore, based on the perturbed strict feedback form, it is possible to find a sliding mode control law to ensure the asymptotic stability of the remaining actuated and unactuated variables. The design efficacy is verified via a multi-link planar robot case study.