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http://dx.doi.org/10.5391/JKIIS.2013.23.3.208

Design of Integral Sliding Mode Control for Underactuated Mechanical Systems  

Yoo, Dong Sang (Dept. of Electrical, Electronic and Control Engineering, Hankyong National University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.23, no.3, 2013 , pp. 208-213 More about this Journal
Abstract
The problem of finding control laws for underactuated systems has attracted growing attention since these systems are characterized by the fact that they have fewer actuators than the degrees of freedom to be controlled. A sliding mode control based on the theory of variable structure systems is a robust methodology to control nonlinear systems. In this paper, a sliding mode control with integral sliding function is proposed and asymptotical stability is proved in the Lyapunov's sense for underactuated systems. In order to verify the effectiveness of the proposed control, computer simulations for an acrobot, which is a representative underactuated system, are performed. Using Mathworks' Simulink/Simscape, the acrobot dynamics is implemented and the proposed control is composed. Simulations demonstrate the effectiveness and usefulness of the proposed control.
Keywords
Underactuated Systems; Acrobot; Robust Control; Variable Structure Systems; Sliding Mode Control;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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