Passivity-Based Sliding Mode Control for Mechanical Port-Hamiltonian Systems

In this work, we propose a new passivity-based sliding mode control (PBSMC) method for mechanical port-Hamiltonian systems. PBSMC is unification of sliding mode control and passivity-based control. It achieves sliding mode control and Lyapunov stability simultaneously by employing an energy-based Ly...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2024-08, Vol.69 (8), p.5605-5612
Main Authors: Sakata, Naoki, Fujimoto, Kenji, Maruta, Ichiro
Format: Article
Language:English
Subjects:
Closed loop systems
Lyapunov method
Lyapunov methods
passivity-based control (PBC)
Robustness
Sliding mode control
sliding mode control (SMC)
Symbols
Symmetric matrices
Vectors
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Summary:In this work, we propose a new passivity-based sliding mode control (PBSMC) method for mechanical port-Hamiltonian systems. PBSMC is unification of sliding mode control and passivity-based control. It achieves sliding mode control and Lyapunov stability simultaneously by employing an energy-based Lyapunov function. The proposed method gives a family of stabilizing controllers that smoothly interpolates passivity-based control and sliding mode control with design parameters. The freedom is useful to adjust the tradeoff between robustness against external disturbances and undesired chattering vibration. In addition, this article relaxes the restrictive condition, which is required in the authors' former result. As a result, we can apply the proposed PBSMC method to trajectory tracking control problems. Furthermore, the robustness of the proposed controller against matched and unmatched disturbances is investigated. Numerical examples demonstrate the effectiveness of the proposed method.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2024.3371898