Hierarchical double integral sliding-mode control for second-order underactuated systems

Syuan Yi Chen, Sheng Sian Gong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This study presents a hierarchical double integral sliding-mode control (HDISMC) system for a class of second-order underactuated systems. First, the second order underactuated system is divided into two subsystems. Then, two levels double integral sliding surfaces are defined in HDISMC to drive the both subsystems toward the desired dynamics with an invariance property to uncertainties. In HDISMC, the control law is derived using Lyapunov theorem to guarantee the closed-loop stability. Moreover, the designed double integral sliding surface reinforces the control law with integral (I) control feature to eliminate the steady-state error more effectively. Finally, control simulation of an inverted pendulum cart system is given to illustrate the validities of the proposed control system using various operating conditions.

Original languageEnglish
Title of host publicationCACS 2014 - 2014 International Automatic Control Conference, Conference Digest
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages173-178
Number of pages6
ISBN (Electronic)9781479945849
DOIs
Publication statusPublished - 2014 Apr 28
Event2014 International Automatic Control Conference, CACS 2014 - Kaohsiung, Taiwan
Duration: 2014 Nov 262014 Nov 28

Publication series

NameCACS 2014 - 2014 International Automatic Control Conference, Conference Digest

Other

Other2014 International Automatic Control Conference, CACS 2014
CountryTaiwan
CityKaohsiung
Period14/11/2614/11/28

Keywords

  • inverted pendulum cart system
  • second-order underactuated system
  • sliding-mode control

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Chen, S. Y., & Gong, S. S. (2014). Hierarchical double integral sliding-mode control for second-order underactuated systems. In CACS 2014 - 2014 International Automatic Control Conference, Conference Digest (pp. 173-178). [7097183] (CACS 2014 - 2014 International Automatic Control Conference, Conference Digest). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CACS.2014.7097183