Application of SSTT control algorithm for underactuated: surface vessel, PPR manipulator and pneumatically actuated slider-inverted pendulum

作者：Zilic T^*; Kasac J; Situm Z; Essert M

来源：Advanced Robotics, 2014, 28(8): 545-556.

DOI：10.1080/01691864.2014.881265

• stabilization
• sliding mode control
• trajectory tracking
• underactuated mechanical systems
• pneumatic actuator

The paper deals with verifications and validation of the control algorithm for simultaneous stabilization and trajectory tracking of underactuated nonlinear mechanical systems. A simplicity, universality, and effectiveness of the control law are shown on simulations to the both multibody second-order nonholonomic systems (a planar PPR manipulator and an inverted pendulum) and underactuated systems with forces/moments input coupling (a surface vessel). An experimental verification has been made on the novel pneumatically actuated slider-inverted pendulum with included friction effects. Also, an actuator compensator is constructed and implemented for this highly nonlinear experimental setup to avoid the increase of the system%26apos;s relative degree in the closed control loop, and to avoid the unnecessary time derivation of the system%26apos;s functions with non-differentiable Coulomb friction effects.

• 出版日期2014-4-18