Title: A novel chattering-free pi sliding mode control for a class of nonlinear underactuated systems
Authors: Shuang Liu; Pengwei Li
Addresses: Jilin Technology College of Electronic Information, 65 Hanyang Street, Longtan District, Jilin 132021, China ' School of Electrical and Information Engineering, Beihua University, 1 Xinshan Street, Longtan District, Jilin 132023, China; Institute of Engineering Technology, University of Science and Technology Beijing, 30 Xueyuan Road, Haidian District, Beijing 10083, China
Abstract: For the tracking and stabilisation control problem of nonlinear underactuated systems, a novel chattering-free sliding mode control approach is proposed in this paper. According to Lyapunov theorem of stability, sliding mode can be around the sliding surface in a finite time by the control law. Moreover, the chattering phenomenon caused by the discontinuous control law can be eliminated by the proposed approach. Simulation results for a bipedal walking robot system demonstrate the feasibility and efficiency of the introduced design. Furthermore, it is noteworthy that the developed approach can be widely applied to kinds of underactuated nonlinear control problems.
Keywords: nonlinear underactuated systems; PI sliding surfaces; finite time stable; bipedal walking robots; chattering phenomenon.
DOI: 10.1504/IJMIC.2019.101965
International Journal of Modelling, Identification and Control, 2019 Vol.32 No.1, pp.54 - 59
Received: 25 Sep 2018
Accepted: 14 Nov 2018
Published online: 02 Sep 2019 *