Adaptive Sliding Mode Based Stabilization Control for the Class of Underactuated Mechanical Systems

Abstract

This article presents a simple stabilizing control algorithm for a class of underactuated mechanical systems for two degrees of freedom (2DoF). In this respect, the adaptive sliding mode based strategy is proposed for the considered class. The controller, along with the adapted laws, is decided in such a way that the time derivative of a Lyapunov function grows negative. The proposed control technique has been applied to three classic benchmark 2DOF systems, the acrobot, pendoubt, and the cart-pole system. The effectiveness of the proposed strategy is proved in the light of simulation results for all said systems considered as an illustrative example.

Keywords

• Feedback stabilization
• underactuated systems
• non-holonomic systems
• adaptive sliding mode control
• Lyapunov function