Fast Terminal Sliding Control Application for Second-order Underactuated Systems

Singh, AM; Ha, QP

Fast Terminal Sliding Control Application for Second-order Underactuated Systems

Singh, AM

Ha, QP

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Publication Type:: Journal Article
Citation:: International Journal of Control, Automation and Systems, 2019, 17 (8), pp. 1884 - 1898
Issue Date:: 2019-08-01

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Field	Value	Language
dc.contributor.author	Singh, AM https://orcid.org/0000-0002-0005-1495	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2019-08-01	en_US
dc.identifier.citation	International Journal of Control, Automation and Systems, 2019, 17 (8), pp. 1884 - 1898	en_US
dc.identifier.issn	1598-6446	en_US
dc.identifier.uri	http://hdl.handle.net/10453/134691
dc.description.abstract	© 2019, ICROS, KIEE and Springer. In this paper, we propose a robust and finite-time control method, based on the terminal sliding mode (TSM), for a class of two-degree-of-freedom (2-DOF) underactuated electromechanical systems subject to bounded uncertainties and disturbances. First, the proposed Fast Terminal Sliding Mode (FTSM) method is presented. Then for the underactuated system control, hierarchical sliding surfaces are defined, consisting of two layers. In the first layer, separate FTSM sliding functions are selected for each state of the system. In the second layer, the system sliding manifold is a linear combination of the first layer sliding surfaces. A control law is derived and stability conditions of the nonlinear system are obtained by using the Lyapunov theory. To verify the effectiveness of our proposed method, the developed control technique is applied to control both the swinging load and the cart position of an underactuated gantry crane. Extensive simulation and real-time experiments demonstrate enhanced performance of the system and robustness against parametric variations in comparison to conventional TSM and sliding mode control.	en_US
dc.relation.ispartof	International Journal of Control, Automation and Systems	en_US
dc.relation.isbasedon	10.1007/s12555-018-0785-3	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Fast Terminal Sliding Control Application for Second-order Underactuated Systems	en_US
dc.type	Journal Article
utslib.citation.volume	8	en_US
utslib.citation.volume	17	en_US
utslib.for	090602 Control Systems, Robotics and Automation	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0910 Manufacturing Engineering	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	open_access	*
pubs.issue	8	en_US
pubs.publication-status	Published	en_US
pubs.volume	17	en_US

Abstract:

© 2019, ICROS, KIEE and Springer. In this paper, we propose a robust and finite-time control method, based on the terminal sliding mode (TSM), for a class of two-degree-of-freedom (2-DOF) underactuated electromechanical systems subject to bounded uncertainties and disturbances. First, the proposed Fast Terminal Sliding Mode (FTSM) method is presented. Then for the underactuated system control, hierarchical sliding surfaces are defined, consisting of two layers. In the first layer, separate FTSM sliding functions are selected for each state of the system. In the second layer, the system sliding manifold is a linear combination of the first layer sliding surfaces. A control law is derived and stability conditions of the nonlinear system are obtained by using the Lyapunov theory. To verify the effectiveness of our proposed method, the developed control technique is applied to control both the swinging load and the cart position of an underactuated gantry crane. Extensive simulation and real-time experiments demonstrate enhanced performance of the system and robustness against parametric variations in comparison to conventional TSM and sliding mode control.

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http://hdl.handle.net/10453/134691