Finite time control of nonlinear underactuated systems using terminal sliding surface

Sin Ho Lee, Jin Bae Park, Yoon Ho Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

In this paper, we propose a hierarchical terminal sliding mode control approach for nonlinear underactuated systems which can drive the error to zero in a finite time. Here, the controller has the double layer structure because the system is divided into two hierarchical subsystems. In the first layer, the terminal sliding surfaces are hierarchically designed for each subsystem, and in the second layer, the whole sliding surface is designed as the linear combination of terminal sliding surfaces. The asymptotic stability of the system is verified by Lyapunov analysis because the controller is based on terminal sliding surface. Finally, we carry out simulation on a representative underactuated systems such as the overhead crane system, to illustrate the effectiveness of the proposed control scheme.

Original languageEnglish
Title of host publicationProceedings - IEEE ISIE 2009, IEEE International Symposium on Industrial Electronics
Pages626-631
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
EventIEEE International Symposium on Industrial Electronics, IEEE ISIE 2009 - Seoul, Korea, Republic of
Duration: 2009 Jul 52009 Jul 8

Other

OtherIEEE International Symposium on Industrial Electronics, IEEE ISIE 2009
CountryKorea, Republic of
CitySeoul
Period09/7/509/7/8

Fingerprint

Nonlinear systems
Controllers
Cranes
Sliding mode control
Asymptotic stability

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Lee, S. H., Park, J. B., & Choi, Y. H. (2009). Finite time control of nonlinear underactuated systems using terminal sliding surface. In Proceedings - IEEE ISIE 2009, IEEE International Symposium on Industrial Electronics (pp. 626-631). [5220307] https://doi.org/10.1109/ISIE.2009.5220307
Lee, Sin Ho ; Park, Jin Bae ; Choi, Yoon Ho. / Finite time control of nonlinear underactuated systems using terminal sliding surface. Proceedings - IEEE ISIE 2009, IEEE International Symposium on Industrial Electronics. 2009. pp. 626-631
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Lee, SH, Park, JB & Choi, YH 2009, Finite time control of nonlinear underactuated systems using terminal sliding surface. in Proceedings - IEEE ISIE 2009, IEEE International Symposium on Industrial Electronics., 5220307, pp. 626-631, IEEE International Symposium on Industrial Electronics, IEEE ISIE 2009, Seoul, Korea, Republic of, 09/7/5. https://doi.org/10.1109/ISIE.2009.5220307

Finite time control of nonlinear underactuated systems using terminal sliding surface. / Lee, Sin Ho; Park, Jin Bae; Choi, Yoon Ho.

Proceedings - IEEE ISIE 2009, IEEE International Symposium on Industrial Electronics. 2009. p. 626-631 5220307.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Lee SH, Park JB, Choi YH. Finite time control of nonlinear underactuated systems using terminal sliding surface. In Proceedings - IEEE ISIE 2009, IEEE International Symposium on Industrial Electronics. 2009. p. 626-631. 5220307 https://doi.org/10.1109/ISIE.2009.5220307