Continuous Sliding-Mode Output-Feedback Control for Stabilization of a Class of Underactuated Systems
Luis Ovalle, Héctor Ríos, Miguel A. Llama, Leonid Fridman
Abstract
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.
Topics & Concepts
UnderactuationControl theory (sociology)Observer (physics)Sliding mode controlNonlinear systemController (irrigation)Lyapunov functionTransformation (genetics)Computer scienceMode (computer interface)Control engineeringMathematicsEngineeringControl (management)PhysicsArtificial intelligenceAgronomyQuantum mechanicsChemistryGeneBiochemistryBiologyOperating systemDynamics and Control of Mechanical SystemsAdaptive Control of Nonlinear SystemsControl and Dynamics of Mobile Robots