Double layer sliding mode control for second-order underactuated mechanical systems

Author

Wang, Wei ; Yi, Jianqiang ; Zhao, Dongbin ; Liu, Xiaojing

Author_Institution

Sch. of Inf. Sci. & Technol., Beijing Inst. of Technol., China

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

295

Lastpage

300

Abstract

A new stable sliding mode control method for a class of underactuated mechanical systems is proposed in this paper. The controller has the double-layer structure. Firstly, the system states are divided into several different subsystems. For each of these subsystems, a first-layer sliding plane is constructed. From these first-layer sliding planes, then we further construct a second-layer sliding plane. By analyzing the features of the mathematical model of the underactuated mechanical systems, we derive the sliding-mode control law and indicate the ranges of the controller parameters. Using Lyapunov law, the paper proves the stability of all the sliding planes theoretically. The simulation results show the validity of this method for this class of underactuated mechanical systems.

Keywords

Lyapunov methods; nonlinear systems; stability; variable structure systems; Lyapunov law; controller parameter; nonlinear system; sliding mode control; sliding plane; stabilization; underactuated mechanical system; Automatic control; Automation; Control systems; Cranes; Information science; Intelligent systems; Mechanical systems; Orbital robotics; Robots; Sliding mode control; double-layer; overhead crane; sliding-mode control; stabilization; underactuated system;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545462

Filename

1545462