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Continuous sliding-mode control for underactuated systems: Relative degree one and two |
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| Affiliation: | 1. The Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150001, China;2. Peng Cheng Laboratory, Shenzhen 518055, China;3. Ningbo Institute of Intelligent Equipment Technology Co., Ltd., Ningbo 315201, China;4. The Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China;1. Department of Electrical and Electronics Engineering, Shiraz University of Technology, Shiraz, Fars, Iran;2. Department of Power and Control Engineering, School of Electrical and Computer Engineering, Shiraz University, Shiraz, Fars, Iran |
| Abstract: | This paper deals with the design of sliding-mode controllers for the stabilization of some types of underactuated systems. The proposed method takes advantage of the mechanical properties of three different types of underactuated systems instead of using nonlinear transformations. In order to design the controller, some sliding variables with relative degree one and two are introduced. The theoretical differences between these approaches are discussed and some simulation results show the practical differences. Experimental results on a cart–pole system are presented to validate the proposed control strategy. |
| Keywords: | Sliding-mode control Underactuated systems Stabilization Continuous control Relative degree |
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