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A new stable sliding mode control method for a class of underactuated mechanical systems with saturation is proposed in this paper. Two state variables of the underactuated system are chosen to construct the first-layer sliding surface. Then, the first-layer sliding surface and one of the left state variables are used to construct the second-layer sliding surface. This process continues till the last...
This paper presents a control scheme of a class of under-actuated systems with saturation using hierarchical sliding mode. This class with a single input and multiple outputs is made up of several subsystems. Based on this physical structure, the hierarchical structure of the sliding mode surfaces is developed as follows. The sliding surface of every subsystem is defined. Then the sliding surface...
This paper addresses the trajectory tracking problem for an redundantly-actuated omnidirectional mobile manipulator system with uncertainties and disturbances. The proposed algorithm is robust adaptive control strategy and the parameter estimates are tuned online. First, for designing controller, the conservative upper-bounded function of dynamic model of omnidirectional mobile manipulator system...
To swing up a Pendubot, a pendulum robot, this paper presents a hierarchical sliding mode controller with limited control torque. The structure characteristic of the Pendubot system is that it can be treated as two subsystems. Thus, the hierarchical structure of the sliding mode surfaces is designed as follows. The sliding mode surfaces of the two subsystems are defined at first. The sliding mode...
The stabilization problem of an underactuated surface vessel is addressed in this paper. A discontinuous control approach with two stage control laws switched on at given time is proposed based on the stability analysis of the global transformed system. With the aid of terminal sliding mode (TSM) method, the two asymptotically stabilizing control laws for the transformed subsystems are designed independently...
Control allocation problem is the key of cooperation control systems and has attracted a lot of attention of researchers. This paper proposes a nonlinear control allocation framework to provide a common optimal solution for decentralized cooperation control systems. The framework includes the allocation controller and feedback control law. In which, the allocation controller is designed to realize...
An incremental sliding mode controller (ISMC) for a class of large-scale underactutated system is proposed to achieve asymptotic stability and favorable decoupled performance. The large-scale underactuated system includes several subsystems. Firstly, two state variables of a subsystem are chosen to construct the first-layer sliding surface. Secondly, the first-layer sliding surface and one of the...
Based on the methodology of sliding mode, this paper presents a robust controller for a class of under-actuated systems with mismatched uncertainties. Such a system consists of a nominal system and the mismatched uncertainties. The structural characteristic of the nominal system is that it is made up of several subsystems. Based on this characteristic, the hierarchical structure of the sliding mode...
This paper proposes a hierarchical sliding mode controller for series double inverted pendulums system. This provides a simple method to control a class of under-actuated systems with three subsystems by sliding mode control. Firstly, the given system is divided into three subsystems according to its structure characteristic. Then, the 1st -level sliding mode surface is defined for every subsystem...
This paper presents a multiple layers sliding mode controller for a class of under-actuated systems. The structure characteristic of these systems, such as inverted pendulum(s) systems, is that they are made up of several subsystems. Firstly, the given system is divided into several subsystems. Then, one subsystem is selected to construct the first layer sliding mode surface and it is used to construct...
Recently, many new flow control mechanisms derived from the classic Kelly model are proposed to solve network congestion problems. They perform well in stability, fairness or robustness. However, most of them have convergence rates that are linear since in classic Kelly model, the link price is only positive. In addition, some needs to introduce extra packet headers to get the price information. In...
An incremental sliding mode controller for a class of second-order underactuated systems is proposed to achieve asymptotic stability and favorable performance. The second-order underactuated systems include two subsystems. Firstly, two state variables of a subsystem are chosen to construct the first-layer sliding surface. Secondly, the first-layer sliding surface and one of the left state variables...
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