Control of a Class of Underactuated Mechanical Systems Using Sliding Modes

Sankaranarayanan, V.; Mahindrakar, Arun D.

doi:10.1109/tro.2008.2012338

Cited by 111 publications

(65 citation statements)

References 25 publications

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“…[20,21,22,23,24]. In [20], a sliding-mode controller was proposed for a class of underactuated multibody systems, and the stability of the sliding surface based on the equilibrium manifold was discussed.…”

Section: Introductionmentioning

confidence: 99%

“…The method allows to control the actuated and unactuated links separately with known friction level at the unactuated link. In [23], Sankaranarayanan and Mahindrakar proposed a switching surface design for a class of underactuated systems, and studied a switched algorithm to make the system state reach the surface in finite time using conventional higher order sliding-mode controller. López-Martínez et al [24] proposed a nonlinear sliding surface design through a fictitious output which provided the minimum-phase property of a class of non-minimum phase underactuated systems.…”

Section: Introductionmentioning

confidence: 99%

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Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Liu

2015

IET Control Theory & Applications

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This paper is a postprint of a paper submitted to and accepted for publication in IET Control Theory and Applications and is subject to Institution of Engineering and Technology Copyright. AbstractStabilization of multibody drill-strings which exhibit stick-slip oscillations is studied in this paper from the point of view of underactuated system. The model has one control torque input acting on the rotary table from the land surface and multi-degree-of-freedom downhole parts to be controlled. Three motion regimes of the model including bit sticking, stick-slip oscillation, and rotating at a constant speed are identified and their equilibria are analyzed accordingly. The control objective of the system is to avoid the undesired bit sticking and stick-slip oscillation while tracking a desired angular velocity. Three slidingmode controllers are studied for the drill-string with estimated physical parameters. The stabilities of the proposed controllers are proved by using the Lyapunov direct method ensuring that any trajectory of the system can reach and stays thereafter on the predesigned sliding surface where the desired equilibrium is asymptotically stable. Extensive simulation results are given to demonstrate the effectiveness of the proposed controllers and their robustness to parametric uncertainties.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Liu

2015

IET Control Theory & Applications

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“…Meanwhile, many researchers also devoted themselves to design universal SMC for the UMSs that have the same dynamic characteristics, e.g. [139,98,140,71,141,142,143,144]. Although SMC has grown exponentially in the past two decades, its applications on control of UMS is only mature at the level of simulation.…”

Section: Sliding Mode Controlmentioning

confidence: 99%

“…For example, Xu andÖzgüner [71] proposed a global stabilization scheme for a class of UMSs in cascaded form. Sankaranarayanan and Mahindrakar [143] developed a control approach which can globally stabilize a class of underactuated mobile systems that…”

Section: Theoretical Challengesmentioning

confidence: 99%

A survey of underactuated mechanical systems

Liu

2013

IET Control Theory & Applications

249

142

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An underactuated mechanical system (UMS) is the system that has fewer independent control actuators than degrees of freedom to be controlled. Control of UMS is considered as one of the most active fields of research due to its diverse engineering applications.This survey reviews UMS from its history to the state-of-the-art research on modelling, classification, control methods, and to some extent, provides some unique insights for bottleneck issues of control and future research directions.

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“…Indeed, many types of sliding-mode controllers have been developed in the last years for robotic systems [8,9,10,11]. Hence, the objective of this paper is to design a supervisory loop [12] based on the mentioned discontinuous field idea and using sliding-mode control theory in order to modify the commanded joint velocities so that the robot fulfills the desired C-space and/or workspace constraints.…”

Section: Introductionmentioning

confidence: 99%

A supervisory loop approach to fulfill workspace constraints in redundant robots

Gracia

Sala

Garelli

2012

Robotics and Autonomous Systems

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ElsevierGracia Calandin, LI.; Sala, A.; Garelli, F. (2012). A supervisory loop approach to fulfill workspace constraints in redundant robots. Robotics and Autonomous Systems. 60 (1) AbstractAn approach based on geometric invariance and sliding mode ideas is proposed for redundancy resolution in robotic systems to fulfill configuration and workspace constraints caused by robot mechanical limits, collision avoidance, industrial security, etc. Some interesting features of the proposal are that: (1) it can be interpreted as a limit case of the classical potential fieldbased approach for collision avoidance which requires using variable structure control concepts, (2) it allows reaching the limit surface of the constraints smoothly, depending on a free design parameter, and (3) it can be easily added as a supervisory block to pre-existing redundancy resolution schemes. The algorithm is evaluated in simulation on a 6R planar robot and on the freely accessible 6R robot model PUMA-560, for which the main features of the method are illustrated.

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Control of a Class of Underactuated Mechanical Systems Using Sliding Modes

Cited by 111 publications

References 25 publications

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

A survey of underactuated mechanical systems

A supervisory loop approach to fulfill workspace constraints in redundant robots

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