Decoupling Control of A Class of Underactuated Mechanical Systems Based on Sliding Mode Control

This paper presents a sliding mode control (SMC) based decoupling control for a class of underactuated mechanical systems. For comprehensive description of the proposed approach, we consider a two degree-of-freedom underactuated system. The whole systems, firstly, decomposed into two subsystems and then individual controllers are designed for each subsystem via SMC. Considering zero-dynamics of each closed loop system, a controller for the whole system is designed by a coupling method of each individual controller such that the whole closed loop system is semi-globally asymptotically stable. The proposed design approach is applied to an inverted pendulum system and simulation test is performed to demonstrate the effectiveness of the proposed design method