Adaptive Sliding Mode Based Stabilization Control for the Class of Underactuated Mechanical Systems

被引：2

作者：

Rehman, Fazal Ur ^{[1
]}

Mehmood, Nadir ^{[1
]}

Din, Sami Ud ^{[2
]}

Mufti, Muhammad Rafiq ^{[3
]}

Afzal, Humaira ^{[4
]}

机构：

[1] Capital Univ Sci & Technol, Dept Elect Engn, Islamabad 44000, Pakistan

[2] Namal Inst Mianwali, Dept Elect Engn, Mianwali 42250, Pakistan

[3] COMSATS Univ Islamabad, Dept Comp Sci, Vehari Campus, Vehari 61100, Pakistan

[4] Bahauddin Zakariya Univ, Dept Comp Sci, Multan 60800, Pakistan

来源：

IEEE ACCESS | 2021年 / 9卷

关键词：

Mechanical systems; Mathematical model; Adaptive systems; Actuators; Space vehicles; Sliding mode control; Lyapunov methods; Feedback stabilization; underactuated systems; non-holonomic systems; adaptive sliding mode control; Lyapunov function;

D O I：

10.1109/ACCESS.2021.3057667

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents a simple stabilizing control algorithm for a class of underactuated mechanical systems for two degrees of freedom (2DoF). In this respect, the adaptive sliding mode based strategy is proposed for the considered class. The controller, along with the adapted laws, is decided in such a way that the time derivative of a Lyapunov function grows negative. The proposed control technique has been applied to three classic benchmark 2DOF systems, the acrobot, pendoubt, and the cart-pole system. The effectiveness of the proposed strategy is proved in the light of simulation results for all said systems considered as an illustrative example.

引用

页码：26607 / 26615

页数：9

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