Sliding mode control for underactuated mechanical systems via nonlinear disturbance observer: stabilization of the rotational pendulum

Majumder, Kakoli; Patre, B. M.

doi:10.1007/s40435-018-0415-1

Cited by 6 publications

(4 citation statements)

References 28 publications

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“…In [76] a nonlinear disturbance observer was made to estimate the nonlinear terms in the model of Furuta, after that a sliding mode control was designed to control the system using the linear quadratic regulator (LQR) technique for the determination of the sliding coefficient.…”

Section: Slidingmentioning

confidence: 99%

A Review on the Control of Second Order Underactuated Mechanical Systems

2018

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This paper describes some important classes of two degrees of freedom of underactuated mechanical system and also surveys review of the recent state-of-the-art concerning the mathematical modeling of these systems, their classification, and all the control strategies (linear, nonlinear, and intelligent) that have been made so far (i.e., from the year 2000 to date) to control these systems. Future research and challenges concerning the improvement, the effectiveness, and robustness of the proposed controllers for underactuated mechanical systems are presented.

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Section: Slidingmentioning

confidence: 99%

A Review on the Control of Second Order Underactuated Mechanical Systems

2018

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“…The stability proof of zero dynamics is given in Majumder and Patre (2018) for matched disturbances.…”

Section: Zero Dynamicsmentioning

confidence: 99%

“…Even with robustness in the output variables, the stability of zero dynamics was not proven. In Park and Chwa (2009) and Majumder and Patre (2018), the coupled SMC and a nonlinear disturbance observer (NDO) based SMC have been developed. Subsequently, the stability analyses of zero dynamics have been validated.…”

Section: Introductionmentioning

confidence: 99%

Adaptive sliding mode control for asymptotic stabilization of underactuated mechanical systems via higher-order nonlinear disturbance observer

Majumder¹,

Patre²

2019

Journal of Vibration and Control

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The development of a nonlinear controller of stabilization of underactuated mechanical systems (UMSs) is a challenging endeavor due to a larger number of output variables to be controlled than the control input space. This paper proposes an adaptive sliding mode control based on a higher-order nonlinear disturbance observer (HONDO) for stabilizing the rotational pendulum (RP) system falling under the class of UMSs. Firstly, the HONDO is designed in such a way that it can improve accuracy in estimations with its incremental order. As a result, the proposed controller obtained from the sliding surface which is developed with system’s states and estimations, forces the states attaining the sliding mode and hence keeps them to their origin forever against disturbances. To achieve this, the sliding coefficients are obtained using inertia matrix of the system. The zero dynamics is stabilized by the proposed controller. This alleviates the chattering problem in the control input. Finally, numerical performance on the underactuated RP model is analyzed to show the efficiency of the proposed controller and it is compared with the established control technique found in the literature.

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“…After a transformation in a feedforward form, a SMC was designed in [3] for the slosh-container system which belongs to the second class of UMSs according to the proposed classification in [4]. In [5] the authors proposed a nonlinear disturbance observer-based SMC approach for uncertain rotational pendulum system. Another SMC approach based on the LMI method is proposed to control a complex Tethered Satellite [6].…”

Section: Introductionmentioning

confidence: 99%

Disturbance Observer-Based Super-Twisting Control for the Inertia Wheel Inverted Pendulum

Hfaiedh¹,

Chemori

Abdelkrim³

2020

2020 17th International Multi-Conference on Systems, Signals &Amp; Devices (SSD)

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In this paper, the problems of stabilization and disturbance rejection in the control of class I of underactuated mechanical systems (UMS) are addressed. Based on a global change of coordinates, the original dynamic model is transformed into a strict-feedback form and a Super-Twisting (STW) controller is designed to resolve the stabilization problem. To deal with the problem of uncertainties and external disturbances in UMS, a disturbance observer (DO) is proposed for the estimation of the input disturbances in the aim of compensating them in the controller and improving the performance and robustness of the resulting closed-loop system. Indeed, the proposed observer-based scheme is compared with the standard STW controller. Both controllers have been implemented and validated through real-time experiments on the inertia wheel inverted pendulum. The obtained results show clearly the superiority of the proposed observer-based STW control scheme and its effectiveness in terms of external disturbance rejection.

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Sliding mode control for underactuated mechanical systems via nonlinear disturbance observer: stabilization of the rotational pendulum

Cited by 6 publications

References 28 publications

A Review on the Control of Second Order Underactuated Mechanical Systems

A Review on the Control of Second Order Underactuated Mechanical Systems

Adaptive sliding mode control for asymptotic stabilization of underactuated mechanical systems via higher-order nonlinear disturbance observer

Disturbance Observer-Based Super-Twisting Control for the Inertia Wheel Inverted Pendulum

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