IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/8347505.html
   My bibliography  Save this article

Sliding Mode Control of Underactuated Nonlinear Systems Based on Piecewise Double Power Reaching Law

Author

Listed:
  • Congcong Yue
  • Haisheng Yu
  • Xiangxiang Meng
  • Javier Moreno-Valenzuela

Abstract

A sliding mode control (SMC) strategy using novel piecewise double power reaching law (PDPRL) for a class of fourth-order nonlinear underactuated systems (USs) is proposed to realize simultaneous control of the unactuated and the actuated part. A novel PDPRL is designed in the form of a piecewise function to reduce the chattering produced by SMC. The fixed-time convergence characteristic and the existence of maximum convergence time independent of the initial value of the sliding mode surface for the PDPRL are analyzed. Considering the uncertainties of model parameters and external disturbance in the USs, a supertwisting disturbance observer (STDO) is provided to accurately estimate the disturbance in real time, and the estimated value is compensated to the controller. The underactuated inverted pendulum system is taken to verify the effectiveness of the devised strategy, and the simulation results show that the proposed strategy can reduce chattering, suppress the disturbance, and enhance the robustness of the system.

Suggested Citation

  • Congcong Yue & Haisheng Yu & Xiangxiang Meng & Javier Moreno-Valenzuela, 2022. "Sliding Mode Control of Underactuated Nonlinear Systems Based on Piecewise Double Power Reaching Law," Mathematical Problems in Engineering, Hindawi, vol. 2022, pages 1-14, February.
    • Handle: RePEc:hin:jnlmpe:8347505
    DOI: 10.1155/2022/8347505
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/mpe/2022/8347505.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/mpe/2022/8347505.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2022/8347505?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:8347505. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.