| Autor: |
Masutani, K., Sakata, N., Fujimoto, K., Maruta, I. |
| Zdroj: |
IFAC-PapersOnLine; January 2024, Vol. 58 Issue: 6 p7-12, 6p |
| Abstrakt: |
In this work, a new second-order sliding mode controller for mechanical port-Hamiltonian systems is proposed. The authors’ former paper proposed a passivity-based sliding mode controller based on the kinetic-potential energy shaping (KPES). This controller is able to achieve only first-order sliding mode control since the KPES allows us to embed a subsystem, whose dimension is the same as that of the input, into the closed-loop system. The present paper extends the KPES to incorporate a higher-order subsystem in the closed-loop system, which enables us to obtain the subsystem that can realize second-order sliding mode control. The proposed controller is a unification of a passivity-based controller and a second-order sliding mode controller which does not cause undesirable chattering phenomena. It ensures finite-time convergence of the subsystem and asymptotic stability of the entire closed-loop system by utilizing two Lyapunov functions. A numerical example demonstrates the effectiveness of the proposed method. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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