Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 52, Issue 8, Pages 8213-8226Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2021.3050475
Keywords
MIMO communication; Cranes; Uncertainty; Actuators; Stability analysis; Robots; Mathematical model; Mechanical systems; mechatronics; motion control; underactuated systems
Categories
Funding
- National Natural Science Foundation of China [U20A20198, 61873134]
- Natural Science Foundation of Tianjin [20JCYBJC01360]
- Joint Fund of Science & Technology Department of Liaoning Province
- State Key Laboratory of Robotics, China [2020-KF-22-05]
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This article addresses the control problem of underactuated systems by using elaborately constructed finite-time convergent surfaces, overcoming the main obstacle in sliding-mode surface analysis and demonstrating its importance in real applications.
In the field of modern industrial engineering, many mechanical systems are underactuated, exhibiting strong nonlinear characteristics and high flexibility. However, the lack of control inputs brings about many difficulties for controller design and stability/convergence analysis. Additionally, some unavoidable practical issues, e.g., plant uncertainties and actuator deadzones, make the control of underactuated systems even more challenging. Hence, with the aid of elaborately constructed finite-time convergent surfaces, this article provides the first solution to address the control problem for a class of multi-input-multi-output (MIMO) underactuated systems subject to plant uncertainties and actuator deadzones. Specifically, this article overcomes the main obstacle in sliding-mode surface analysis for MIMO underactuated systems, that is, by the presented analysis method, the asymptotic stability of the system equilibrium point is strictly proven based on the composite surfaces. In addition, the unknown parts of the actuated/unactuated dynamic equations and actuator deadzones can be simultaneously handled, which is important for real applications. Furthermore, we apply the proposed method to two kinds of typical underactuated systems, that is: 1) tower cranes and 2) double-pendulum cranes, and implement a series of hardware experiments to verify its effectiveness and robustness.
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