Adaptive Sliding Mode Based Stabilization Control for the Class of Underactuated Mechanical Systems

Abstract

This article presents a simple stabilizing control algorithm for a class of underactuated mechanical systems for two degrees of freedom (2DoF). In this respect, the adaptive sliding mode based strategy is proposed for the considered class. The controller, along with the adapted laws, is decided in such a way that the time derivative of a Lyapunov function grows negative. The proposed control technique has been applied to three classic benchmark 2DOF systems, the acrobot, pendoubt, and the cart-pole system. The effectiveness of the proposed strategy is proved in the light of simulation results for all said systems considered as an illustrative example.

Adaptive second-order backstepping control for a class of 2DoF underactuated systems with input saturation and uncertain disturbances

“…For the intelligent control algorithms, the fuzzy or fuzzy-based control algorithms are proposed 4 , 5 , and neural network (NN) or NN-based controllers are proposed 6 – 8 . For the nonlinear control algorithms, the partial feedback linearization 1 , the adaptive control methods 7 , 9 , the energy- or passivity-based control methods 10 , 11 , the robust control methods 12 , 13 , and the sliding mode-based methods 14 , 15 are proposed. Despite the control classifications made for the above literature, almost all are a combination of multiple control algorithms.…”

Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation

“…Underactuated systems are categories of nonlinear dynamic systems which have fewer number of actuators than degrees of freedom [1][2][3][4][5]. The stabilizer and tracker design problems of these dynamical structures involve wide investigation due to their application in flexible manipulators [6], marine vessels [7], robotics [8,9], aircraft assembly [10], hovercraft [11], legged locomotion [12], overhead crane [13], satellite [14], rigid spacecraft [15], inverted pendulum [16], aeroelastic wing section [17], underwater vehicles [18], surface vessels [19], quad-rotors [20,21], flexible joint robots [22], cranes [23], visual servoing [24], proprioceptive tactile sensing [25], vertical take-off and landing drones [26] etc.…”