RBF-based terminal sliding mode control for a class of underactuated mechanical system

Wang, Hongbin; Yang, Zelin; Zhou, Zhen

doi:10.1109/ccdc.2016.7531068

Cited by 2 publications

(1 citation statement)

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“…In [81], a nonsingular FTSMC is recommended for underactuated spacecraft formation without radial/in-track thrust. In [82], a singularity-free TSMC approach based on radial basis function is suggested for underactuated mechanical systems. In [83], the diving control problem for underactuated unmanned undersea vehicles with parametric perturbations and wave disturbances using backstepping-based integral-FTSMC is studied.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2021

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In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for the stabilization of underactuated robotic systems. The finite time disturbance observer is employed to estimate the exterior disturbances of the system and develop the finite time control law. The proposed controller can regulate the state trajectories of the underactuated systems to the origin within a finite time in the existence of external disturbances. The stability analysis of the proposed control scheme is verified via the Lyapunov stabilization theory. The designed control law is enough to drive a switching surface achieving the fast terminal sliding mode against severe model nonlinearities with large parametric uncertainties and external disturbances. Illustrative simulation results and experimental validations on a cart-inverted pendulum system are provided to display the success and efficacy of the offered method.

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Section: Introductionmentioning

confidence: 99%