Adaptive sliding mode control for asymptotic stabilization of underactuated mechanical systems via higher-order nonlinear disturbance observer

摘要

The development of a nonlinear controller of stabilization of underactuated mechanical systems (UMSs) is a challenging endeavor due to a larger number of output variables to be controlled than the control input space. This paper proposes an adaptive sliding mode control based on a higher-order nonlinear disturbance observer (HONDO) for stabilizing the rotational pendulum (RP) system falling under the class of UMSs. Firstly, the HONDO is designed in such a way that it can improve accuracy in estimations with its incremental order. As a result, the proposed controller obtained from the sliding surface which is developed with system's states and estimations, forces the states attaining the sliding mode and hence keeps them to their origin forever against disturbances. To achieve this, the sliding coefficients are obtained using inertia matrix of the system. The zero dynamics is stabilized by the proposed controller. This alleviates the chattering problem in the control input. Finally, numerical performance on the underactuated RP model is analyzed to show the efficiency of the proposed controller and it is compared with the established control technique found in the literature.