Chen, L;
Van, M;
(2020)
Sliding mode control of a class of underactuated system with non-integrable momentum.
Journal of the Franklin Institute
, 357
(14)
pp. 9484-9504.
10.1016/j.jfranklin.2020.07.022.
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Abstract
In this paper, a sliding mode control scheme is developed to stabilise a class of nonlinear perturbed underactuated system with a non-integral momentum. In this scheme, by initially maintaining a subset of actuated variables on sliding manifolds, the underactuated system with the non-integrable momentum can be approximated by one with the integrable momentum in finite time. During sliding, a subset of the actuated variables converge to zero and a physically meaningful diffeomorphism is systematically calculated to transform the reduced order sliding motion into one in a strict feedback normal form in which the control signals are decoupled from the underactuated subsystem. Furthermore, based on the perturbed strict feedback form, it is possible to find a sliding mode control law to ensure the asymptotic stability of the remaining actuated and unactuated variables. The design efficacy is verified via a multi-link planar robot case study.
| Type: | Article |
|---|---|
| Title: | Sliding mode control of a class of underactuated system with non-integrable momentum |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1016/j.jfranklin.2020.07.022 |
| Publisher version: | https://doi.org/10.1016/j.jfranklin.2020.07.022 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| UCL classification: | UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng UCL > Provost and Vice Provost Offices > UCL BEAMS UCL |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10146736 |
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