Control for Underactuated Systems Using Sliding Mode Observer

Zehar, Djamila; Benmahammed, K.; Behih, Khalissa

doi:10.1007/s12555-016-0730-2

Cited by 13 publications

(10 citation statements)

References 24 publications

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“…It is easy to obtain from (24) that the state variables $ 1 and $ 3 asymptotically converge to zero. Then according to LaSalle invariant principle, subsystem (25) can be simplified into (26) as follows…”

Section: Stability Analysismentioning

confidence: 99%

“…24 A sliding mode controller is proposed by Zehar et al for the stabilization of the tracking errors, and the underactuated system is decomposed into two subsystems, where the sliding surface is constructed in two levels for each subsystem. 25 In order to realize three-dimensional stable control of an underactuated UMV, a nonholonomic stabilization control law is proposed by Li et al, and quaternion theory is applied to transform the function to develop a continuous time-varying controller. 26 Wang et al designed a Takagi-Sugeno (TS) fuzzy stabilization control law for an UMV, where the stability and stabilization criteria are derived by taking into consideration an asynchronous difference between the normalized membership function of the TS fuzzy system and that of the controller.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Dong

Wang

Song

et al. 2019

International Journal of Advanced Robotic Systems

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Point stabilization control of a class of asymmetric underactuated high-speed unmanned marine vehicle is discussed, and a robust exponential stabilization control algorithm is proposed based on homogeneous theory, average system theory, and nonlinear backstepping technology. Firstly, point stabilization control problem of a high-speed underactuated unmanned marine vehicle with model asymmetry is formulated, and then global differential homeomorphism transformation is designed, in order to overcome the difficulties caused by unmanned marine vehicle with model asymmetry. Secondly, the control system is transformed into the standard form of homogeneous interference system by output state variable transformation design and input transformation design. A novel interference function is designed, and then difficulties caused by the higher order velocities in damping coefficients are solved, via homogeneous stability design and homogeneity degree analyzing the expansion of the designed new state variables. Thirdly, by introducing the virtual input of backstepping and the average system theory, point stabilization controller for the underactuated high-speed unmanned marine vehicle is proposed based on homogeneous theory, which could achieve global and periodic time-varying robust exponential stability, and then stability of the point stabilization control algorithm is proved by using homogeneous stability theory and average system stability theory. At last, the effectiveness and accuracy of the control algorithm proposed is verified by semi-physical simulation experiment carried out in our laboratory.

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Section: Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Dong

Wang

Song

et al. 2019

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…It follows from (1) that the zero dynamics is constant and equal to zero. In this case, the observer designs including the high-gain observer [10,11,19] and sliding mode observer [12][13][14][15][16][17][18] can be usually used to estimate the system states. In this paper, the observer structure, which is similar to the sliding mode observer but uses the different analysis method to design the parameters, can precisely estimate the real states.…”

Section: Problem Formulationmentioning

confidence: 99%

“…In recent years, the discontinuous technique for 2 Journal of Control Science and Engineering designing observers has been intensively developed [12][13][14][15][16][17] due to their robustness property. Sliding mode observer [13][14][15] or robust exact differentiator [16][17][18] provides an alternative design for estimation of uncertain nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

Robust Output Feedback Passivity-Based Variable Structure Controller Design for Nonlinear Systems

Chang

2019

Journal of Control Science and Engineering

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This paper examines the use of an output feedback variable structure controller with a nonlinear sliding surface for a class of SISO nonlinear systems in the presence of matched disturbances. With only the measurable system output, the discontinuous observer reconstructs the system states and ensures that the estimation errors exponentially approach zero. Using the estimation states, the proposed nonlinear sliding surface with variable damping ratio can simultaneously achieve low overshoot and short settling time. Then the passivity-based controller including a discontinuous term can guarantee that the closed-loop system asymptotically converges to the sliding surface. Compared with other sliding mode controllers, the proposed passivity-based control scheme has better transient performance and effectively reduces the control gain. Finally, simulation results demonstrate the validity of the proposed method.

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“…It is also known as the Furuta pendulum (Åström & Furuta, 2000), and it has also been widely considered for testing. Different nonlinear control design approaches for the Furuta pendulum can be found in literature, such as in (Zehar, Benmahammed & Behih, 2018) where the design and implementation of an adaptive sliding mode controller is discussed, along with other sliding mode variations in order to compare their performance within that class of controllers. Miguel A. Solis, Manuel Olivares, Héctor Allende Fuzzy logic controllers and other intelligent control techniques such as swing-up control by using trajectory planning and stabilization using artificial neural networks when the model is described through linear matrix inequalities, are discussed in (Yang & Zheng, 2018).…”

Section: Introductionmentioning

confidence: 99%

A Switched Control Strategy for Swing-Up and State Regulation for the Rotary Inverted Pendulum

Solís¹,

Olivares²,

Allende³

2019

STUD INFORM CONTROL

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The rotary inverted pendulum (RIP) is an underactuated mechanical system that can be balanced in the upward position, by applying the linear control theory based on a nonlinear dynamical model linearized around that position. Its structure makes it possible to implement controllers designed for energy minimization in the non-linearizable region. Due to the limited validity of the resulting linear model, a nonlinear control is needed to automatically move the pendulum close to the linearized region, starting from its stable downward position. A RIP platform has been built to experimentally test a switched control strategy design, which combines an energy-based nonlinear controller for swinging up the pendulum and a linear quadratic regulator for the balancing task. Experimental results validate the performance of this approach on the physical prototype.

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Control for Underactuated Systems Using Sliding Mode Observer

Cited by 13 publications

References 24 publications

Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Robust Output Feedback Passivity-Based Variable Structure Controller Design for Nonlinear Systems

A Switched Control Strategy for Swing-Up and State Regulation for the Rotary Inverted Pendulum

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