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Robust global stabilization of a class of underactuated mechanical systems of two degrees of freedom
Author(s) -
GutiérrezOribio Diego,
MercadoUribe José A.,
Moreno Jaime A.,
Fridman Leonid
Publication year - 2021
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.5176
Subject(s) - underactuation , control theory (sociology) , degrees of freedom (physics and chemistry) , convergence (economics) , actuator , lipschitz continuity , controller (irrigation) , pendulum , mechanical system , computer science , inverted pendulum , mechatronics , control engineering , mathematics , control (management) , engineering , physics , nonlinear system , artificial intelligence , mathematical analysis , mechanical engineering , quantum mechanics , agronomy , economics , biology , economic growth
Summary In this article, the global stabilization of a class of underactuated mechanical systems of two degrees of freedom (DoF) is addressed, despite the presence of Lipschitz disturbances and/or uncertainties and uncertain control coefficient in the model. Using two second‐order continuous sliding modes algorithms, the control task is performed, reaching finite‐time convergence in one part of the dynamics and generating a continuous control signal. The efficacy of the proposed controllers is illustrated via simulations for the reaction wheel pendulum (RWP) and the translational oscillator with rotational actuator (TORA) systems, and by means of experiments on the RWP system, comparing the presented algorithms with a linearizing controller.