Sliding mode control of a class of underactuated system with non-integrable momentum

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dc.contributor.authorChen, Lejun
dc.contributor.authorVan, Mien
dc.date.accessioned2020-07-21T16:04:56Z
dc.date.available2020-07-21T16:04:56Z
dc.date.issued2020-07-20
dc.description.abstractIn this paper, a sliding mode control scheme is developed to stabilise a class of nonlinear perturbed underactuated system with a non-integral momentum. In this scheme, by initially maintaining a subset of actuated variables on sliding manifolds, the underactuated system with the non-integrable momentum can be approximated by one with the integrable momentum in finite time. During sliding, a subset of the actuated variables converge to zero and a physically meaningful diffeomorphism is systematically calculated to transform the reduced order sliding motion into one in a strict feedback normal form in which the control signals are decoupled from the underactuated subsystem. Furthermore, based on the perturbed strict feedback form, it is possible to find a sliding mode control law to ensure the asymptotic stability of the remaining actuated and unactuated variables. The design efficacy is verified via a multi-link planar robot case study.en_UK
dc.identifier.citationChen L, Van M. (2020) Sliding mode control of a class of underactuated system with non-integrable momentum. Journal of The Franklin Institute - Engineering and Applied Mathematics, Volume 357, Issue 14, September 2020, pp. 9484-9504en_UK
dc.identifier.issn0016-0032
dc.identifier.urihttps://doi.org/10.1016/j.jfranklin.2020.07.022
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/15578
dc.language.isoenen_UK
dc.publisherElsevieren_UK
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectRoboticsen_UK
dc.subjectUnderactuated Systemen_UK
dc.subjectSliding mode controlen_UK
dc.titleSliding mode control of a class of underactuated system with non-integrable momentumen_UK
dc.typeArticleen_UK

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