Passivity-based second-order sliding mode control via the homogeneous Lyapunov approach for mechanical port-Hamiltonian systems

Authors

K. Masutani, N. Sakata, K. Fujimoto, I. Maruta

Abstract

In this work, a new second-order sliding mode controller for mechanical port-Hamiltonian systems is proposed. The authors’ former paper proposed a passivity-based sliding mode controller based on the kinetic-potential energy shaping (KPES). This controller is able to achieve only first-order sliding mode control since the KPES allows us to embed a subsystem, whose dimension is the same as that of the input, into the closed-loop system. The present paper extends the KPES to incorporate a higher-order subsystem in the closed-loop system, which enables us to obtain the subsystem that can realize second-order sliding mode control. The proposed controller is a unification of a passivity-based controller and a second-order sliding mode controller which does not cause undesirable chattering phenomena. It ensures finite-time convergence of the subsystem and asymptotic stability of the entire closed-loop system by utilizing two Lyapunov functions. A numerical example demonstrates the effectiveness of the proposed method.

Keywords

Port-Hamiltonian systems; Passivity-based control; Nonlinear control

Citation

• Journal: IFAC-PapersOnLine
• Year: 2024
• Volume: 58
• Issue: 6
• Pages: 7–12
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2024.08.248
• Note: 8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2024- Besançon, France, June 10 – 12, 2024

BibTeX

@article{Masutani_2024,
  title={{Passivity-based second-order sliding mode control via the homogeneous Lyapunov approach for mechanical port-Hamiltonian systems}},
  volume={58},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2024.08.248},
  number={6},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Masutani, K. and Sakata, N. and Fujimoto, K. and Maruta, I.},
  year={2024},
  pages={7--12}
}

Download the bib file

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