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Double Closed-loop Integral Terminal Sliding Mode for a Class of Underactuated Systems Based on Sliding Mode Observer

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  • Control Theory and Applications
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Abstract

Aiming to solve the tracking control problem of a class of second-order underactuated mechanical systems with unknown model parts, external disturbances and noise disturbances, a double closed-loop layered integral terminal sliding mode control method based on sliding mode observer is proposed. At the outset, the Lagrange model of the system is transformed into an affine model, and a sliding mode observer is designed according to the system structure. Neatly, the outer loop controller is designed using the observer’s estimated state, and the output value of the outer loop controller is filtered with a low pass filter. Then the inner loop controller is designed by using hierarchical sliding mode control method. On a premise of ensuring tracking performance, the control method can maximally improve convergence speed and reduce chattering even if there are unknown model parts, external interference and noise interference phenomena in the system. This simulation results distinctly display the effectiveness of the control tactics.

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Authors and Affiliations

  1. School of information engineering, Xiangtan University, Xiangtan, 411105, P. R. China

    Wei Liu, Si-yi Chen & Hui-xian Huang

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  1. Wei Liu
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  2. Si-yi Chen
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  3. Hui-xian Huang
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Correspondence to Si-yi Chen.

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Wei Liu was born in 1994. He is a postgraduate in Xiangtan University. His research interests are theory and application of nonlinear systems.

Si-yi Chen was born in 1986. He is a Ph.D. and a lecturer in Xiangtan University. His research interests are servo control technology, fractional calculus theory and multi-objective optimization theory.

Hui-xian Huang was born in 1957. He is a Ph.D. and a professor in Xiangtan University. His research interests are advanced control theory, process control modeling and application, and power electronics technology.

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Liu, W., Chen, Sy. & Huang, Hx. Double Closed-loop Integral Terminal Sliding Mode for a Class of Underactuated Systems Based on Sliding Mode Observer. Int. J. Control Autom. Syst. 18, 339–350 (2020). https://doi.org/10.1007/s12555-019-0184-4

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  • DOI: https://doi.org/10.1007/s12555-019-0184-4

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