2021
DOI: 10.1177/01423312211031396
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Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

Abstract: In this paper, the control problem of a class I of underactuated mechanical systems (UMSs) is addressed. The considered class includes nonlinear UMSs with two degrees of freedom and one control input. Firstly, we propose the design of a robust integral of the sign of the error (RISE) control law, adequate for this special class. Based on a change of coordinates, the dynamics is transformed into a strict-feedback (SF) form. A Lyapunov-based technique is then employed to prove the asymptotic stability of the res… Show more

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Cited by 9 publications
(2 citation statements)
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“…For a class of 2DoF underactuated systems, some control attempts have been performed, such as continuous higher-order sliding-mode-control 12 , dynamic surface control 17 , RISE control 31 , in which the input saturation, external interference, inertial parameter uncertainty are not considered. For the TORA, which belongs to underactuated systems, a command filter controller is proposed in our research 32 and the bounded torques are replaced by the hyperbolic tangent function input 33 .…”
Section: Introductionmentioning
confidence: 99%
“…For a class of 2DoF underactuated systems, some control attempts have been performed, such as continuous higher-order sliding-mode-control 12 , dynamic surface control 17 , RISE control 31 , in which the input saturation, external interference, inertial parameter uncertainty are not considered. For the TORA, which belongs to underactuated systems, a command filter controller is proposed in our research 32 and the bounded torques are replaced by the hyperbolic tangent function input 33 .…”
Section: Introductionmentioning
confidence: 99%
“…Robust integral of signal of error (RISE) control is a data-driven control method that has a simple structure and can control the system without the need for detailed system parameters and modeling. It has been widely used in underwater vehicles, automatic flight systems, multi-robot system trajectory tracking, and other fields [17][18][19][20][21][22][23]. In order to improve the loading accuracy and dynamic performance of the load simulator under the interference of redundant torque and backlash, a dual-motor loading structure is designed, and a composite control strategy suitable for this structure is proposed.…”
Section: Introductionmentioning
confidence: 99%