Robust Approach for Global Stabilization of a Class of Underactuated Mechanical Systems in Presence of Uncertainties
Underactuated mechanical systems offer complex dynamic behavior and poses control challenges, especially in the presence of uncertainties in the system. To cope with such systems, control mechanisms are required, which needs to be robust. In this research, an algorithm based on sliding mode control...
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Hindawi-Wiley
2023-01-01
|
| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2023/8207980 |
| _version_ | 1797798169123225600 |
|---|---|
| author | Ibrahim Shah Waseem Abbasi Musaed Alhussein Imran Khan Fazal Ur Rehman Muhammad Shahid Anwar Khursheed Aurangzeb |
| author_facet | Ibrahim Shah Waseem Abbasi Musaed Alhussein Imran Khan Fazal Ur Rehman Muhammad Shahid Anwar Khursheed Aurangzeb |
| author_sort | Ibrahim Shah |
| collection | DOAJ |
| description | Underactuated mechanical systems offer complex dynamic behavior and poses control challenges, especially in the presence of uncertainties in the system. To cope with such systems, control mechanisms are required, which needs to be robust. In this research, an algorithm based on sliding mode control (SMC) is presented. The algorithm design offer a methodical way to handle underactuation, while the robustness properties of SMC suppresses the effect of norm bounded uncertainties and external disturbances. To proceed with the design, an underactuated system is converted into cascaded subsystems, a linear one and reduced-order nonlinear subsystem. The proposed SMC design is backed by rigorous mathematical presentation and based on Lyapunov theory, so that the global stabilization of overall system is ensured. Numerical simulations are performed, on the laboratory test bench underactuated systems (Inertial Wheel, Furuta Pendulum, TORA, and an Overhead Crane), to validate the efficacy of the proposed design. In addition, a novel sliding surface is presented for Inertial Wheel and Furuta Pendulum to achieve swingup control and global stabilization subjected to uncertainties. |
| first_indexed | 2024-03-13T03:59:28Z |
| format | Article |
| id | doaj.art-d9ebff5aebbf49b99ec4b56768f0ecfb |
| institution | Directory Open Access Journal |
| issn | 1099-0526 |
| language | English |
| last_indexed | 2024-03-13T03:59:28Z |
| publishDate | 2023-01-01 |
| publisher | Hindawi-Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj.art-d9ebff5aebbf49b99ec4b56768f0ecfb2023-06-22T00:00:04ZengHindawi-WileyComplexity1099-05262023-01-01202310.1155/2023/8207980Robust Approach for Global Stabilization of a Class of Underactuated Mechanical Systems in Presence of UncertaintiesIbrahim Shah0Waseem Abbasi1Musaed Alhussein2Imran Khan3Fazal Ur Rehman4Muhammad Shahid Anwar5Khursheed Aurangzeb6Electrical Engineering DepartmentComputer Science and IT DepartmentDepartment of Computer EngineeringElectrical Engineering DepartmentElectrical Engineering DepartmentDepartment of AI SoftwareDepartment of Computer EngineeringUnderactuated mechanical systems offer complex dynamic behavior and poses control challenges, especially in the presence of uncertainties in the system. To cope with such systems, control mechanisms are required, which needs to be robust. In this research, an algorithm based on sliding mode control (SMC) is presented. The algorithm design offer a methodical way to handle underactuation, while the robustness properties of SMC suppresses the effect of norm bounded uncertainties and external disturbances. To proceed with the design, an underactuated system is converted into cascaded subsystems, a linear one and reduced-order nonlinear subsystem. The proposed SMC design is backed by rigorous mathematical presentation and based on Lyapunov theory, so that the global stabilization of overall system is ensured. Numerical simulations are performed, on the laboratory test bench underactuated systems (Inertial Wheel, Furuta Pendulum, TORA, and an Overhead Crane), to validate the efficacy of the proposed design. In addition, a novel sliding surface is presented for Inertial Wheel and Furuta Pendulum to achieve swingup control and global stabilization subjected to uncertainties.http://dx.doi.org/10.1155/2023/8207980 |
| spellingShingle | Ibrahim Shah Waseem Abbasi Musaed Alhussein Imran Khan Fazal Ur Rehman Muhammad Shahid Anwar Khursheed Aurangzeb Robust Approach for Global Stabilization of a Class of Underactuated Mechanical Systems in Presence of Uncertainties Complexity |
| title | Robust Approach for Global Stabilization of a Class of Underactuated Mechanical Systems in Presence of Uncertainties |
| title_full | Robust Approach for Global Stabilization of a Class of Underactuated Mechanical Systems in Presence of Uncertainties |
| title_fullStr | Robust Approach for Global Stabilization of a Class of Underactuated Mechanical Systems in Presence of Uncertainties |
| title_full_unstemmed | Robust Approach for Global Stabilization of a Class of Underactuated Mechanical Systems in Presence of Uncertainties |
| title_short | Robust Approach for Global Stabilization of a Class of Underactuated Mechanical Systems in Presence of Uncertainties |
| title_sort | robust approach for global stabilization of a class of underactuated mechanical systems in presence of uncertainties |
| url | http://dx.doi.org/10.1155/2023/8207980 |
| work_keys_str_mv | AT ibrahimshah robustapproachforglobalstabilizationofaclassofunderactuatedmechanicalsystemsinpresenceofuncertainties AT waseemabbasi robustapproachforglobalstabilizationofaclassofunderactuatedmechanicalsystemsinpresenceofuncertainties AT musaedalhussein robustapproachforglobalstabilizationofaclassofunderactuatedmechanicalsystemsinpresenceofuncertainties AT imrankhan robustapproachforglobalstabilizationofaclassofunderactuatedmechanicalsystemsinpresenceofuncertainties AT fazalurrehman robustapproachforglobalstabilizationofaclassofunderactuatedmechanicalsystemsinpresenceofuncertainties AT muhammadshahidanwar robustapproachforglobalstabilizationofaclassofunderactuatedmechanicalsystemsinpresenceofuncertainties AT khursheedaurangzeb robustapproachforglobalstabilizationofaclassofunderactuatedmechanicalsystemsinpresenceofuncertainties |