A Passivity-Based Sliding Mode Controller for a Class of Electro-Mechanical Systems

Abstract

This letter proposes a novel sliding mode control method for a class of electro-mechanical systems using passivity based approach. For mechanical systems, the authors proposed a passivity based sliding mode controller based on the kinetic potential energy shaping method which allows one to obtain a wider class of Lyapunov function candidates. This letter extends this framework to cope with a class of electro-mechanical systems and gives a new class of energy based Lyapunov function candidates. Based on this technique, a novel sliding mode controller with an explicit energy based Lyapunov function is proposed. It is expected to provide a new basis for a unified control design framework for both passivity based control and sliding mode control. Furthermore, a numerical example demonstrates the effectiveness of the proposed method.