Continuous Sliding-Mode Output-Feedback Control for Stabilization of a Class of Underactuated Systems

Luis Ovalle, Hector Rios, Miguel Llama, Leonid Fridman

Research output: Contribution to journalArticlepeer-review

1 Scopus citations

Abstract

This article presents a robust output-feedback control scheme for the stabilization of a class of nonlinear underactuated mechanical systems in the presence of coupled disturbances. The scheme is based on the so-called coupled sliding-mode control, i.e., no transformation into the normal form is required. The proposed output approach is composed of a super-twisting controller and a high-order sliding-mode observer that robustly stabilize the origin of the system asymptotically. All of the results are proven by Lyapunov approaches. The proposed approach is validated by means of simulations and experimental results on a four-degree-of-freedom underactuated crane.

Original languageEnglish
Pages (from-to)986-992
Number of pages7
JournalIEEE Transactions on Automatic Control
Volume67
Issue number2
DOIs
StatePublished - 1 Feb 2022

Bibliographical note

Publisher Copyright:
© 1963-2012 IEEE.

Keywords

  • Output-feedback stabilization
  • Sliding-mode control
  • Underactuated systems

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