Title :
Decoupling Control of A Class of Underactuated Mechanical Systems Based on Sliding Mode Control
Author :
Park, Mun-Soo ; Chwa, Dongkyoung ; Hong, Suk-Kyo
Author_Institution :
Dept. of Electr. & Comput. Eng., Ajou Univ., Seoul
Abstract :
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
Keywords :
asymptotic stability; closed loop systems; control system synthesis; mechanical engineering; nonlinear control systems; pendulums; variable structure systems; closed loop system; controller design; decoupling control; inverted pendulum system; nonlinear system; semiglobally asymptotically stable; sliding mode control; underactuated mechanical system; zero-dynamics; Closed loop systems; Control systems; Design methodology; Fuzzy systems; Linear feedback control systems; Mechanical systems; Mechanical variables control; Nonlinear control systems; Orbital robotics; Sliding mode control; Decoupling control; nonlinear systems; sliding mode control; uderactuated mechanical systems;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315338
