Control of Fully Actuated Mechanical Systems via Super-twisting Based Lyapunov Redesign. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Estrada, Manuel A.; Fridman, Leonid; Moreno, Jaime A.
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 5117
• Page End: 5121
• Publication Date: 2020
• Subjects: Sliding mode control -- Stability of nonlinear systems -- Robust control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.1148
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: The problem control of fully actuated of mechanical systems under uncertainties is considered. With this aim a concept of Lyapunov redesign is revisited. The derivative of the Lyapunov function for a nominal model of the robot is used for the sliding surface design. This surface permits to design a super-twisting controller allowing to compensate the Lipschitz uncertainties, providing theoretically exact convergence of the states of uncertain system to the origin by means of a continuous control signal. The proposed result is illustrated for simulation example controlling an uncertain planar robot.