Abstract
In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for the stabilization of underactuated robotic systems. The finite time disturbance observer is employed to estimate the exterior disturbances of the system and develop the finite time control law. The proposed controller can regulate the state trajectories of the underactuated systems to the origin within a finite time in the existence of external disturbances. The stability analysis of the proposed control scheme is verified via the Lyapunov stabilization theory. The designed control law is enough to drive a switching surface achieving the fast terminal sliding mode against severe model nonlinearities with large parametric uncertainties and external disturbances. Illustrative simulation results and experimental validations on a cart-inverted pendulum system are provided to display the success and efficacy of the offered method.
Highlights
Underactuated systems are categories of nonlinear dynamic systems which have fewer number of actuators than degrees of freedom [1,2,3,4,5]
This study offers a fast terminal sliding mode control procedure according to the
This study offers a fast terminal sliding mode control procedure according to the disdisturbance observer for the stabilization ofmode underactuated systems according with external perturThisstudy study offers fast terminal sliding controlsystems procedure to the disThis offers fast terminal sliding mode control procedure according the disturbance observer foraathe stabilization of underactuated with externalto perturbabations. observer
Summary
Underactuated systems are categories of nonlinear dynamic systems which have fewer number of actuators than degrees of freedom [1,2,3,4,5]. The tracking problem based on finite time control for an underactuated autonomous surface vessel is studied in [76] using a nonsingular TSMC approach. In [85], according to the mixture of TSMC and high-order sliding mode techniques, a robust finite time controller scheme is proposed for control of joint configuration of three-link planar underactuated manipulators. In [88], the tracking problem of underactuated unmanned underwater vehicles is studied and a TSMC-based robust nonlinear control technique is developed. The innovation of the present article is to design a new robust technique with fast and finite time convergence which improves the stabilization and robust performance of underactuated dynamical systems. Design of a disturbance observer-based FTSMC technique for stabilization of underactuated systems with exterior perturbations.
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