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Proxy Based Sliding Mode Control for a Class of Second-Order Nonlinear Systems

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10463))

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Abstract

In this paper, an extended Proxy-based Sliding Mode Control (PSMC) which combines sliding mode control with conventional stiff position control, is proposed and applied for the tracking control of a class of second-order nonlinear systems. The well-known chattering problem can be solved by using the proposed control scheme. As a result, the overdamped dynamics which is extremely important for system safety can be achieved without losing the advantage of accurate control performance in the presence of external disturbances and parameter uncertainties. Based on Lyapunov theory, the stability analysis of the proposed scheme is presented and the passivity of the system is also proven. Experiments are carried out to verify the proposed method.

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Acknowledgement

This work was supported by the National Natural Science Foundation of China under Grant 61473130, the Science Fund for Distinguished Young Scholars of Hubei Province (2015CFA047), the Fundamental Research Funds for the Central Universities (HUST: 2015TS028) and the Program for New Century Excellent Talents in University (NCET- 12-0214).

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Authors and Affiliations

  1. Huazhong University of Science and Technology, Wuhan, 430074, People’s Republic of China

    Guangzheng Ding, Jian Huang & Yu Cao

Authors
  1. Guangzheng Ding
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  2. Jian Huang
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  3. Yu Cao
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Corresponding author

Correspondence to Jian Huang .

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Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Ding, G., Huang, J., Cao, Y. (2017). Proxy Based Sliding Mode Control for a Class of Second-Order Nonlinear Systems. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_76

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  • DOI: https://doi.org/10.1007/978-3-319-65292-4_76

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65291-7

  • Online ISBN: 978-3-319-65292-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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