Robust exponential stabilization of underactuated mechanical systems in the presence of bounded disturbances using sliding mode control

That, Nguyen D.; Quang, Nguyen Khanh; Thanh, Pham Tam; Ha, Q.P.

doi:10.1109/iccais.2013.6720555

Cited by 3 publications

(2 citation statements)

References 16 publications

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“…The asymptotically stable of the closed-loop systems were achieved through the selection of sliding-surface parameters. Similar improvements were reported in [20,21,24]. Along with advantages including cost-effectiveness and high flexibility of digital computers, there have been considerable attention to the problem of discrete-time controller design in embedded control applications.…”

Section: Introductionsupporting

confidence: 62%

Discrete-time sliding mode control for a class of underactuated mechanical systems with bounded disturbances

Nguyen

2014

JCC

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Tóm tắt. Bài báo đề xuất một phương pháp thiết kế bộ điều khiển tựa trượt gián đoạn cho một lớp hệ hụt cơ cấu chấp hành có xét đến ảnh hưởng của nhiễu bị chặn. Dựa trên phương pháp hàm Lyapunov, một điều kiện đủ cho sự tồn tại một mặt trượt ổn định được đưa ra dưới dạng bất đẳng thức ma trận tuyến tính. Điều kiện này cũng đảm bảo rằng ảnh hưởng của nhiễu bị chặn sẽ bị loại bỏ khi hệ ở trong chế độ trượt. Mặt khác, khi trong chế độ trượt, quỹ đạo trạng thái của hệ hội tụ mũ tới một hình cầu bán kính nhỏ nhất. Bộ điều khiển tựa trượt gián đoạn sau đó được đề xuất để đưa quỹ đạo trạng thái của hệ vào mặt trượt trong thời gian hữu hạn và duy trì quỹ đạo trên mặt trượt. Một nghiên cứu trên robot Pendubot được đưa ra để kiểm chứng tính khả thi của bộ điều khiển được đề xuất.Từ khóa. Hệ hụt cơ cấu chấp hành, điều khiển trượt, pendubot, nhiễu bị chặn, Lyapunov, bất đẳng thức ma trận tuyến tính.Abstract. This article addresses the problem of discrete-time quasi-sliding mode control for a class of underactuated mechanical systems in the presence of bounded external disturbances. Based on the Lyapunov functional method, a sufficient condition for the existence of a stable sliding surface is derived in terms of a linear matrix inequality (LMI). This condition also guarantees that the effects of external disturbances can be suppressed when the system is considered in the sliding mode. Moreover, in the induced sliding dynamics, all the state trajectories are exponentially convergent to a ball whose radius can be minimized. A robust discrete-time quasi-sliding mode controller is then proposed to drive system state trajectories towards the sliding surface infinite time and maintain it thereafter subsequent time. A case study of the Pendubot is provided to illustrate the feasibility of the proposed approach.

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Section: Introductionsupporting

confidence: 62%

Discrete-time sliding mode control for a class of underactuated mechanical systems with bounded disturbances

Nguyen

2014

JCC

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“…For example, in ref. [27], the controller has been designed based on the linearized model of the system, which is a model-based method. Moreover, in ref.…”

Section: Introductionmentioning

confidence: 99%

A Robust Approach to Stabilization of 2-DOF Underactuated Mechanical Systems

Aminsafaee¹,

Shafiei²

2020

Robotica

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SUMMARY This paper studies the stabilization problem for a class of underactuated systems in the presence of unknown disturbances. Due to less number of control inputs with respect to the degrees of freedom of the system, closed-loop asymptotic stability is a challenging issue in this field. In this paper, anti-swing controllers are designed for nominal and disturbed systems. In the case of the nominal system, the proposed two-loop controller is a combination of collocated partial feedback linearization and hierarchical sliding mode control (HSMC) theories. Then, due to the importance of robustness in control of physical systems, the proposed controller is developed for underactuated mechanical systems in the presence of additive disturbances. One of the main advantages of the proposed design method is that it does not need any switching algorithm. Finally, to illustrate the performance of the proposed controllers, they are applied to two underactuated mechanical systems: a pendubot and a Furuta pendulum. In addition, the practicality of the proposed approach is also verified experimentally using a quadrotor stand.

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Further results on exponential stability of linear discrete-time systems with time-varying delay

That

Cuong

2015

2015 10th Asian Control Conference (ASCC)

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Robust exponential stabilization of underactuated mechanical systems in the presence of bounded disturbances using sliding mode control

Cited by 3 publications

References 16 publications

Discrete-time sliding mode control for a class of underactuated mechanical systems with bounded disturbances

Discrete-time sliding mode control for a class of underactuated mechanical systems with bounded disturbances

A Robust Approach to Stabilization of 2-DOF Underactuated Mechanical Systems

Further results on exponential stability of linear discrete-time systems with time-varying delay

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