Journal
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
Volume 223, Issue I6, Pages 785-795Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1243/09596518JSCE734
Keywords
robust control; sliding mode; underactuated system; uncertainty
Categories
Funding
- National 863 Program Project [2007AA04Z239]
- NSFC [60575047]
- Natural Science Foundation Project of Beijing [4062030]
- Programme for New Century Excellent Talents in University [NCET-06-0207]
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Based on the sliding mode control methodology, this paper presents a robust control strategy for underactuated systems with mismatched uncertainties. The system consists of a nominal system and the mismatched uncertainties. Since the nominal system can be considered to be made up of several subsystems, a hierarchical structure for the sliding surfaces is designed. This is achieved by taking the sliding surface of one of the subsystems as the first-layer sliding surface and using this sliding surface and the sliding surface of another subsystem to construct the second-layer sliding surface. This process continues till the sliding surfaces of all the subsystems are included. A lumped sliding mode compensator is designed at the last-layer sliding surface. The asymptotic stability of all of the layer sliding surfaces and the sliding surface of each subsystem is proven. Simulation results show the validity of this robust control method through stabilization control of a system consisting of two inverted pendulums and mismatched uncertainties.
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