A passivity-based nonsingular terminal sliding mode controller for mechanical port-Hamiltonian systems

Authors

Naoki Sakata, Kenji Fujimoto, Ichiro Maruta

Abstract

This paper proposes a novel nonsingular terminal sliding mode controller for mechanical systems based on passivity-based control. In the authors’ previous study, passivity-based sliding mode control is realized with kinetic potential energy shaping (KPES), which allows us to construct a wider class of energy-based Lyapunov function candidates. This paper extends KPES to deal with a special class of Lyapunov function candidates whose arguments depend nonlinearly on the momentum. Based on this extension, we propose a nonsingular terminal sliding mode controller that achieves finite time convergence of the closed-loop system with an energy-based Lyapunov function. Due to the passivity-based approach, the proposed controller guarantees Lyapunov stability of the closed-loop system even if the discontinuous control input is replaced with a continuous one to alleviate chattering. A numerical example demonstrates the effectiveness of the proposed method.

Citation

• Journal: 2024 IEEE 63rd Conference on Decision and Control (CDC)
• Year: 2024
• Volume:
• Issue:
• Pages: 8864–8869
• Publisher: IEEE
• DOI: 10.1109/cdc56724.2024.10886856

BibTeX

@inproceedings{Sakata_2024,
  title={{A passivity-based nonsingular terminal sliding mode controller for mechanical port-Hamiltonian systems}},
  DOI={10.1109/cdc56724.2024.10886856},
  booktitle={{2024 IEEE 63rd Conference on Decision and Control (CDC)}},
  publisher={IEEE},
  author={Sakata, Naoki and Fujimoto, Kenji and Maruta, Ichiro},
  year={2024},
  pages={8864--8869}
}

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References

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