Abstract
This paper proposes a smooth second-order sliding mode controller for a class of multi-input multi-output mechanical systems with uncertain parameters and external disturbances. Since the control law is smooth, the chattering effect that can occur with non-smooth controllers is reduced. Lyapunov-based theorems are used to prove global and finite-time convergence of the sliding mode controller. Numerical simulations are presented to illustrate the performance of the proposed controller by applying it first to a variable-length pendulum and then to a two-link robotic manipulator. For the robotic manipulator, a detailed comparison is given of the finite-time convergence and chattering properties of the proposed controller, a super-twisting controller and a super-twisting like controller.Article HighlightsA new smooth second-order sliding mode controller is proposed for multivariablesystems with uncertain parameters and external disturbances.Global finite-time convergence of the controller is proved using Lyapunov theory.Numerical simulations are used to show the performance of the controller on thevariable-length pendulum and two-link robotic manipulator.
Highlights
Modern mechanical systems require high performance control schemes
We have proposed a smooth second-order sliding mode control scheme with the aim of finite-time convergence and reduced chattering for a system with bounds on the values of uncertain parameters and external disturbances and we have shown the application of the controller to the variable-length pendulum and a twolink robotic manipulator
We have developed a smooth second-order sliding mode controller (SOSMC) for finite-time control of a class of multi-input multi-output mechanical systems with uncertain parameters and external disturbances
Summary
Modern mechanical systems (e.g., manipulators, flexible structures, autonomous aerial vehicles, spacecraft, etc.) require high performance control schemes. These systems usually contain uncertain parameters and are always subject to external disturbances. Control schemes that make systems insensitive to uncertain parameters and external disturbances are highly desirable. Among the existing control methods, sliding mode control (SMC), originally proposed by Utkin [1], has been considered as one of the best methods because of its simplicity and high. SMC has been successfully applied to many types of dynamical systems including discrete-time systems [2, 3], multi-input multi-output (MIMO) systems [4, 5], time-delay systems [6], large-scale and infinite-dimensional systems [7, 8], and stochastic systems [9–11]
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