Robust Sliding Mode Control with Integral Sliding surface of an underactuated rotary hook system

摘要

In this paper, robust Integral Sliding Mode Control (ISMC) will be proposed for an underactuated rotary hook system in order to deal with parametric uncertainties presenting in the system parameters. By using the proposed ISMC, the reaching phase encountered in the conventional SMC will be eliminated and as a consequence, the dynamic ambiguity, which occurs when the system is in the transient state forwarding to the sliding mode, can be completely avoided. Furthermore, when the system slides on the sliding surface, the constraints for controller gains will be clarified in order to ensure the robust stability of the closed-loop system. All of conclusions will be drawn through both simulation and experimental results.