This paper deals with the design of sliding-mode controllers for the stabilization of some types of underactuated systems. The proposed method takes advantage of the mechanical properties of three different types of underactuated systems instead of using nonlinear transformations. In order to design the controller, some sliding variables with relative degree one and two are introduced. The theoretical differences between these approaches are discussed and some simulation results show the practical differences. Experimental results on a cart–pole system are presented to validate the proposed control strategy.
Bibliographical noteFunding Information:
The authors gratefully acknowledge the financial support from Tecnológico Nacional de México research projects. L. Ovalle and H. Ríos also acknowledge the financial support from CONACYT, Mexico 591548 and 270504 , respectively.
© 2019 Elsevier Ltd
- Continuous control
- Relative degree
- Sliding-mode control
- Underactuated systems